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원격 조정 수중 로봇의 정밀 위치 제어를 위한 선형 모델링 기법
최현택(Hyun-Taek Choi),최진우(Jinwoo Choi),이영준(Yeongjun Lee),김석용(Seokyong Kim) 대한전기학회 2014 정보 및 제어 심포지엄 논문집 Vol.2014 No.10
In this paper, a linear modeling method for accurate positioning control of a remotely-operated underwater vehicle is proposed. An underwater robot has highly nonlinear characteristics which are a function of velocity and are mainly due to characteristics of water. Even though an underwater robot is in low speed motion such as position keeping control mode, there are still difficulties such as thruster daed-zone, low bandwidth positioning sensor. A typical solution for this control problem could be a complicate linearization for linear control or advanced nonlinear control. On the contrary, this paper proposes a simple modeling method only for position keeping control, which can be obtained experimentally without being worried about a control input discontinuity issues because an operator is managing a robot and selecting modes for keeping or tracking. The obtained model was applied to a model based disturbance rejection control and experimental results showed its feasibility and effectiveness.