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Journal of Navigation and Port Research 2011;35(5):359-363.
Published online June 30, 2011.
만타형 UUV의 제어기 설계에 관한 연구
김형동, 김준영, 김시홍, 이승건
Hyeong-Dong Kim, Joon-Young Kim, Si-Hong Kim, Seung-Keon Lee
Abstract
In this paper, automatic control system for the Manta UUV are constructed for the diving and steering maneuver. PID controller and Fuzzy controller are adopted in this system. Based on the 6DOF dynamic equation, simulation program has been developed using the Matlab. Using this program, depth control system and heading control system with tidal current are evaluated.
Key Words: 만타형 UUV;PID 제어;Fuzzy 제어; Manta-type Unmanned Underwater Test Vehicle;PID Controller;Fuzzy Controller;Depth Control;Heading Control
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