추진기 비선형 특성 제거를 위한 2중 루프 제어기 설계

Abstract

This paper describes a design methodology of 2-loop controller to eliminate thruster nonlinearities. To complete complicated underwater robot mission, lots of robotic intelligences are needed such as cognition, localization, map building, searching, and so on. But, basically low-level control performance would be a key factor to achieve missions. Since strong nonlinearites of thruster are not easy to handle with a general linear feedback control, in this paper, a 2-loop control scheme with feed-forward term is proposed. It is a kind of model based disturbance rejection control where differences between model and real system could be considered as disturbance. The effectiveness of the proposed method is shown by Matlab simulation because thrusters we have are not able to generate velocity feedback from thruster amplifier. Simulation results demonstrates great performance improvement in term of velocity error.