DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | Kim, Jin-Whan | - |
dc.contributor.advisor | 김진환 | - |
dc.contributor.author | Kim, Yong-Hyun | - |
dc.contributor.author | 김영현 | - |
dc.date.accessioned | 2013-09-12T04:57:20Z | - |
dc.date.available | 2013-09-12T04:57:20Z | - |
dc.date.issued | 2012 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=509500&flag=dissertation | - |
dc.identifier.uri | http://hdl.handle.net/10203/182291 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 해양시스템공학전공, 2012.8, [ v, 37 p. ] | - |
dc.description.abstract | Dynamic positioning is used to maintain the position of a marine vessel at a fixed location or within a prescribed boundary by using its own actuators. In particular, for an underwater vehicle equipped with a manipulator called the underwater vehicle-manipulator system (UVMS), it is important to regulate the end-effector of the manipulator with respect to a given target position in many interactive operations. This thesis presents a systematic procedure for obtaining a mathematical dynamic model of an underwater vehicle and designing a controller that ensures that the endpoint of an underwater vehicle maintains its position in the presence of ocean currents and uncertainties without an explicit use of a disturbance observer. First, 6-DOF dynamic equations of motion considering environmental forces and moments are considered, and semi-analytical/empirical formulae are employed to calculate the associated hydrodynamic coefficients. Then, based on the obtained the dynamic model, a controller design approach to dynamic positioning is proposed. Specifically, an extended Kalman filter (EKF) is used as the state observer and a feedback linearizing control in task coordinates is proposed to be in use. To demonstrate the validity and effectiveness of the proposed approach, numerical simulations and experimental tests in a 2D tank are performed and their results are shown. | eng |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | underwater vehicle | - |
dc.subject | dynamic positioning | - |
dc.subject | extended Kalman filter | - |
dc.subject | 수중운동체 | - |
dc.subject | 동적위치 | - |
dc.subject | 확장칼만필터 | - |
dc.subject | 비선형 제어 | - |
dc.subject | nonlinear control | - |
dc.title | A study on dynamic positioning of an underwater vehicle in task space under environmental disturbances | - |
dc.title.alternative | 환경 외란을 고려한 수중운동체의 작업공간 기반 동적위치 제어 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 509500/325007 | - |
dc.description.department | 한국과학기술원 : 해양시스템공학전공, | - |
dc.identifier.uid | 020104280 | - |
dc.contributor.localauthor | Kim, Jin-Whan | - |
dc.contributor.localauthor | 김진환 | - |
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