AUV의 경로 추종을 위한 PD 제어기의 설계 기법

Abstract

Autonomous Underwater Vehicles(AUVs) are known as typical underactuated system. General design law of PD controller is not enough to manipulate AUV. By analyzing 6-DOF nonlinear dynamic equations of AUV, the correlated terms of input and output are discriminated. And then we can design PD controller through a procedure specially oriented to underactuated system. Simulation results show that the proposed PD controller guarantees path tracking of AUV under consideration