NON-LINEAR ADAPTIVE CONTROL SYSTEM FOR REMOTE UNMANNED SUBMARINE

摘要

According to the present invention, a remote unmanned submarine control method includes the steps of: inputting a target location of a remote unmanned submarine in a global coordinate system; calculating the location, velocity, and acceleration of the remote unmanned submarine in the global coordinate system for moving the remote unmanned submarine to the target location; switching the location, velocity, and acceleration of the remote unmanned submarine calculated in the global coordinate system to a local velocity in a local coordinate system of the remote unmanned submarine; calculating the torque for moving the remote unmanned submarine to the target location by using the local velocity; and calculating the thrust force to be generated by each of multiple thrusters included in the remote unmanned submarine by using the calculated torque. According to the present invention, the integrated control method can be used for velocity profile and motor control operations by using parameter-adaptive backstepping control and phase-locked loop (PLL) control operations. The present invention chooses a backstepping control scheme among various schemes to control the remote unmanned submarine for an adaptive control operation regarding an external force in accordance with external disturbances and hydrodynamic coefficients. The backstepping and PLL control method of the present invention can predictably control the remote unmanned submarine in an underwater environment making a control operation difficult.;COPYRIGHT KIPO 2017