| Title |
Depth and Speed Control of Large Diameter Unmanned Underwater Vehicles |
| Authors |
김도완(Kim, Do Wan) ; 김문환(Kim, Moon Hwan) ; 박호규(Park, Ho-Gyu) ; 김태영(Kim, Tae-Yeong) |
| DOI |
https://doi.org/10.5370/KIEE.2017.66.3.563 |
| Keywords |
Large diameter unmanned underwater vehicles (LDUUV) ; Depth control ; Speed control ; Lyapunov ; Linear matrix inequality (LMI) ; Asymptotic stability |
| Abstract |
This paper deals with the depth and speed controls of a class of nonlinear large diameter unmanned underwater vehicles (LDUUVs), while maintaining its attitude. The concerned control problem can be viewed as an asymptotic stabilization of the error model in terms of its desired depth, surge speed and attitude. To tackle its nonlinearities, the linear parameter varying (LPV) model is employed. Sufficient linear matrix inequality (LMI) conditions are provided for its asymptotic stabilization. A numerical simulation is provided to demonstrate the effectiveness of the proposed design methodology. |