4개의 추진기를 가진 수중로봇의 제어

Abstract

This paper presents speed, depth, and heading control algorithms for an autonomous underwater robot with four thrusters named the Dual Use Semi-Autonomous Underwater Vehicle (DUSAUV). The proposed algorithm adopts linear quadratic (LQ) controller to give an optimal solution including that of the algebraic Riccati equation (ARE). In order to facilitate the controller design, DUSAUV which is the generic nonlinear dynamic system of 6 degree of freedom is linearly parameterized in terms of the speed, pitch, and yaw to state-space representation model. In this paper the LQ control provides an optimal thrust distribution minimizing the performance indices to speed, depth, and heading control. The simulation result is executed on Simulink, MATLAB.