자율무인잠수정의 다이빙운동을 위한 비선형 적응제어기법

Abstract

This paper presents an adaptive non-linear controller for diving control of an autonomous underwater vehicle (AUV). So far, diving dynamics of an AUV has often been derived under various assump-tions on the motion of the vehicle. Typically, the pitch angle of AUV has been assumed to be small in the diving plane. However, these kinds of assumptions may induce large modeling errors and further may cause severe problems in many practical applications. In this paper, through a certain simple modification, we break the above restricting condition on the vehicle’s pitch angle during diving motion so that the vehicle could take free pitch motion. Proposed adaptive nonlinear controller is designed by using a traditional backstepping method. Finally, numerical studies are presented to illustrate the effectiveness of proposed control scheme, and some practical features of the control law are also discussed.