무인 잠수정 SNUUV I의 비선형 제어운동에 대한 해석

Abstract

This paper describes the nonlinear mathematical modelling, hydrodynamic coefficients estimation, underwater navigation, sliding mode control simulation for a test bed autonomous underwater vehicle (AUV) named by SNUUV I (Seoul National University Underwater Vehicle I). A six degree of freedom mathematical model for the SNUUV I is derived with linear and nonlinear hydrodynamic coefficients, which are estimated with the help of a potential code and multi-variable regression model via input-output experiment. A navigation algorithm for towing tank application is developed using three ranging sonars, pressure sensor and two inclinometers keeping the towing tank condition in mind. It is demonstrated numerically that the navigation system together with controller guides the vehicle to follow the desired depth and path with a sufficient accuracy.