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| Modeling and controller design of manta-type unmanned underwater test vehicle
Seung-Keon Lee
The Journal of Mechanical Science and Technology, vol. 23, no. 4, pp.987-990, 2009
Abstract : This paper describes the mathematical model and controller design for Manta-type unmanned underwater test vehicle
(MUUTV) with 6 DOF nonlinear dynamic equations. The mathematical model contains hydrodynamic forces and
moments expressed in terms of a set of hydrodynamic coefficients which were obtained through the PMM (planar
motion mechanism) test. Based on the 6 DOF dynamic equations, numerical simulations have been performed to analyze
the dynamic performance of the MUUTV. In addition, using the mathematical model PID and sliding mode controller
are constructed for the diving and steering maneuver. Simulation results show that the control performance of
the MUUTV compared with that of NPS (Naval Postgraduate School) AUV II.
Keyword : Manta-type unmanned underwater test vehicle; Mathematical model; Planar motion mechanism; Controller design |
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