Path Tracking Control Based on RMAC in Horizontal Plane for a Torpedo-Shape AUV, ISiMi
Youngshik Kim, Jihong Lee, Jinha Kim, Bong-Huan Jun, Pan-Mook Lee · Journal of Ocean Engineering and Technology · 2009
*Ocean Engineering Research Department, KORDI/MOERI, Daejeon, K orea**BK21 Mechatronics Group at Chungnam National University, Daej eon, KoreaKEY WORDS: AUV(Autonomous underwater vehicle) 무인잠수정, Underactuated system 불충분 작동기를 가진 시스템, Path tracking control 경로추종제어, RMAC(Resolved motion and acceleration control), ISiMi 이심이, ISiMi100 이심이100ABSTRACT:This paper considers the path tracking problem in a horizontal plane for underactuated (or non-holonomic) autonomous underwate r vehicles (AUVs). Underwater mapping has been an important missi on for AUVs. Recently, underwater docking has also become a main research field of AUVs. These kinds of missions basically require accura te attitude and trajectory control performance. However, the non-holonomic problem should be solved to achieve accurate path tracking for the torp edo-type of AUVs. In this paper, resolved motion and accelerati on control (RMAC) is considered as a path tracking controller for an underactuate d torpedo-shaped AUV, ISiMi. A set of numerical simulations is carried out to illustrate the effectiveness of the proposed RMAC scheme, and e xperimental data with ISiMi100 and discussions are presented.교신저자 이지홍 : 대전광역시 유성구 대학로 79, 042-821-6873, [email protected]: BK21 Mechatronics Group at Chungnam National University, Daejeon, Korea