AUV의 경유점 추적을 위한 제어기 설계

Abstract

Recently, The necessity of AUV (autonomous underwater vehicle) exploitment is ever increasing as the exploration of marine resources and underwater military applications are more activated. Therefore, in order to control AUV’s correct location and posture in the sea water, the implementation of the AUV is a crucial key point for such applications. In this dissertation, we propose a small size AUV consisting of GPS (gobal positioning system) interfacing equipment and various sensors such as IMU (inertial measurement unit), DVL (doppler velocity logger), and depth sensors. Actually the designed AUV is activated by thruster and four rudders. And then we developed a state feedback controller based on the pole placement method for tracking of the AUV’s way-points. The proposed controller was simulated by MATLAB/Simulink using 6 degree-of-freedom nonlinear model. According to the simulation results, we experienced that the performance of the tracking ability of our suggested controller is superior to the case of the conventional PD controller and its performance of way point tracking is shown to be fulfilled within 1 m.