부력 및 모멘트 제어를 이용한 수중글라이더의 안정화: 피드백 선형화 접근법
Stabilization of Underwater Glider by Buoyancy and Moment Control: Feedback Linearization Approach
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초록
This paper addresses a feedback linearization control problem for the nonlinear dynamics of an underwater glider system. Weconsider the buoyancy and moment as control inputs, which come from the mass variation and elevator control, respectively. Moment-to-forcecoupling increases the nonlinearities, which make the controller design difficult. By using a feedback linearization technique, we convert thenonlinear underwater glider to an equivalent linear model and design a linear controller. The controller for the equivalent converted linear systemis designed using sufficient conditions in terms of linear matrix inequalities. Then, the control input of the nonlinear model of an underwater glideris formulated from the linear control input. An experimental examination is implemented to verify the effectiveness of the proposed technique.
Abstract
This paper addresses a feedback linearization control problem for the nonlinear dynamics of an underwater glider system. Weconsider the buoyancy and moment as control inputs, which come from the mass variation and elevator control, respectively. Moment-to-forcecoupling increases the nonlinearities, which make the controller design difficult. By using a feedback linearization technique, we convert thenonlinear underwater glider to an equivalent linear model and design a linear controller. The controller for the equivalent converted linear systemis designed using sufficient conditions in terms of linear matrix inequalities. Then, the control input of the nonlinear model of an underwater glideris formulated from the linear control input. An experimental examination is implemented to verify the effectiveness of the proposed technique.
참고문헌 (7)
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- Bhatta, P, "Nonlinear Gliding Stability and Control for Vehicles with Hydrodynamic Forcing", Automatica, 44(5), pp.1240~1250 (2008)
- Zhang, F, "Passivity-based Controller Design for Stabilzation of Underwater Gliders", American Control Conference (ACC), pp.5408~5413 (2012)
- Nakamura, Y, "Nonlinear Tracking Control of Autonomous Underwater Vehicles", Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on, pp.A4~A9 (1992)
- 박종진, "해양 글라이더에 관하여: 한국 근해에서의 적용 가능성", Ocean and Polar Research, 35(2), pp.107~121 (2013), 한국해양과학기술원
- 박요섭, "수중 글라이더를 이용한 동해 횡단 사례 보고", 바다, 17(2), pp.130~137 (2012), 한국해양학회