쌍동형 무인선의 동적위치제어에 관한 연구 Dynamic Positioning Control of a Twin-hull Unmanned Surface Ship

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dc.contributor.author김진환ko
dc.contributor.author강민주ko
dc.date.accessioned2017-01-13T05:02:13Z-
dc.date.available2017-01-13T05:02:13Z-
dc.date.created2016-12-20-
dc.date.created2016-12-20-
dc.date.issued2016-12-
dc.identifier.citation로봇학회 논문지, v.11, no.4, pp.217 - 225-
dc.identifier.issn1975-6291-
dc.identifier.urihttp://hdl.handle.net/10203/218742-
dc.description.abstractDynamic Positioning (DP) is used to automatically maintain the position and heading of a floating structure subjected to environmental disturbances. A DP control system is composed of a motion controller to compute the desired force and moment and a thrust allocator to distribute the computed force and moment to multiple thrusters considering mechanical and operational constraints. Among various thruster configurations, azimuth thrusters or propeller/rudder pairs tend to make the allocation problem difficult to solve, because these types of propulsion systems include nonlinear constraints. In this paper, a dynamic positioning strategy for a twin-thruster ship that is propelled by two azimuthing thrusters is addressed, and a thrust allocation method which does not require a numerical optimization solver is proposed. The applicability of the proposed method is demonstrated with an experiment using an autonomous boat.-
dc.languageKorean-
dc.publisher한국로봇학회-
dc.title쌍동형 무인선의 동적위치제어에 관한 연구-
dc.title.alternativeDynamic Positioning Control of a Twin-hull Unmanned Surface Ship-
dc.typeArticle-
dc.type.rimsART-
dc.citation.volume11-
dc.citation.issue4-
dc.citation.beginningpage217-
dc.citation.endingpage225-
dc.citation.publicationname로봇학회 논문지-
dc.identifier.doi10.7746/jkros.2016.11.4.217-
dc.identifier.kciidART002166734-
dc.contributor.localauthor김진환-
dc.contributor.nonIdAuthor강민주-
dc.description.isOpenAccessN-
dc.subject.keywordAuthorUnmanned Surface Vehicle-
dc.subject.keywordAuthorDynamic positioning-
dc.subject.keywordAuthorThrust allocation-
Appears in Collection
ME-Journal Papers(저널논문)
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