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권순태(Soon-Tae Kwon),백운경(Woon-Kyung Baek),강인필(Inpil Kang),최형식(Hyeung-Sik Choi),주문갑(Moon G. Joo) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.12
For way-point tracking of an autonomous underwater vehicle, a state feedback controller was designed by using pole placement scheme in discrete time domain. In the controller, 4 state variables were used for regulating the depth of the vehicle in z direction, and 3 state variables, for steering the vehicle in xy plane. Assuming constant speed of AUV, we simplified the design of the way-point tracking system. The proposed controller was simulated by MATLAB/Simulink using 6 degree-of-freedom nonlinear model and its performance of way point tracking was shown to be fulfilled within 1 m, nevertheless the proposed controller is quite simple and easy to implement compared to sliding mode controller.