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두 개의 고정된 추진기를 갖는 무인수상선의 동적 위치 및 PTP 제어Dynamic Positioning and PTP Control of the Unmanned Surface Vehicle with Two Fixed Thrusters
- Other Titles
- Dynamic Positioning and PTP Control of the Unmanned Surface Vehicle with Two Fixed Thrusters
- Issue Date
- 12월-2009
- Publisher
- 한국해양연구원
- Keywords
- USV(unmanned surface vehicle); non-holonomic system; underatuated vehicle; DP(Dynamic Positioning) contro; PTP(Point-to-point) control
- Citation
- 선박해양기술, v.1, no.48, pp 35 - 41
- Pages
- 7
- Journal Title
- 선박해양기술
- Volume
- 1
- Number
- 48
- Start Page
- 35
- End Page
- 41
- Abstract
- The USV(unmanned surface vehicle) is developed as an intermediate platform for the communication between AUV fleet and a mother ship or a control station on land. It is difficult to control of non-holonomic system that this vehicle has two fixed thruster. In this paper, we addresses the design of a motion control system which enables an underatuated vehicle to keep a position and track target-points. And then, experiments which were DP(Dynamic Positioning) control and a PTP(Point-to-point) control of this vehicle carried out with the designed controller and the results were analyzed.
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