| 비 홀로노믹 구속조건을 이용한 수중 이동체의 자세제어에 관한 연구 |
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남택근, 김철승 |
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| A Posture Control for Underwater Vehicle with Nonholonomic Constraint |
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Taek-Kun Nam, Chol-Seong Kim |
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| Abstract |
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In this paper, we study the posture control of an underwater vehicle with nonholonomic constraint. Generally, systems with nonholnomic constraints cannot be stabilized to an equilibrium points by smooth state feedback control. For the nonholonomic underwater vehicle system, we applied coordinate transformation to get multi-chained system. We proposed non smooth feedback controller using backstepping method for stabilizing the multi chained form system. Applying inverse input transformation to the non smooth feedback controller, we can get posture controller of the underwater vehicle with nonholonomic constraint. The proposed control scheme is applied to the posture control of an underwater vehicle and verified the effectiveness of control strategy by numerical simulation. |
| Key Words:
Underwater vehicle;nonholonomic constraints;multi chained form;backstepping control |
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