Abstract
This paper describes the mathematical model and controller design for Manta-type unmanned underwater test vehicle (MUUTV) with 6 DOF nonlinear dynamic equations. The mathematical model contains hydrodynamic forces and moments expressed in terms of a set of hydrodynamic coefficients which were obtained through the PMM (planar motion mechanism) test. Based on the 6 DOF dynamic equations, numerical simulations have been performed to analyze the dynamic performance of the MUUTV. In addition, using the mathematical model PID and sliding mode controller are constructed for the diving and steering maneuver. Simulation results show that the control performance of the MUUTV compared with that of NPS (Naval Postgraduate School) AUV II.
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Seung-Keon Lee received the B.S. and M.S. degrees from Pusan National University, in 1982 and 1984, respectively, and the Ph.D. degree from University of Tokyo in 1988. He is currently a Professor in the Department of Naval Architecture and Ocean Engineering, Pusan National University, Busan, Korea. His research interests are about the hydrodynamic force and mathematical model for the motion of surface and underwater vehicles.
Joon-Young Kim received the B.S. and M.S. degrees from Inha University, in 1989 and 1993, respectively, and the Ph.D. degree from Hanyang University in 1999. He is currently a Professor in the Department of Ocean System Engineering, Jeju National University, Jeju, Korea. His current research interests are in unmanned underwater vehicle design and control.
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Lee, SK., Sohn, KH., Byun, SW. et al. Modeling and controller design of manta-type unmanned underwater test vehicle. J Mech Sci Technol 23, 987–990 (2009). https://doi.org/10.1007/s12206-009-0326-3
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DOI: https://doi.org/10.1007/s12206-009-0326-3