이심이 AUV의 전진속도 변화에 대한 심도제어 성능의 영향

Abstract

This paper presents the design, experiments and analysis of a control system for the ISiMI(Integrated Submergible Intelligent Mission Implementation) AUV. This work focuses on the AUV's depth controller using sliding mode control algorithm which is known as robust against disturbance in underwater environment. The vertical motion controller is designed on the basis of a linear model with the hydrodynamic coefficients estimated at an operating velocity. In this paper, the differences between the designed speed and AUV's true speed are regarded as disturbances. The controlled output response for the velocity differences shows the variation of dynamic response characteristics. These characteristics can be a good reference about trajectory planning for a specific task.