무인잠수정의 최적 경로 설계 및 추적제어

Abstract

This dissertation presents the design of optimal trajectories and tracking controller for the translational motion of an unmanned underwater vehicle (UUV). The dissertation proposes optimal trajectories which include time-optimal trajectories and energy-saving ones. These trajectories are given in a closed form of explicit functions derived from solving analytically the nonlinear second order differential equation representing the translational motion of the vehicle. The dissertation also proposes a trajectory-tracking controller using sliding mode method. This controller can force the vehicle to track the designed trajectories very well, even with uncertainties. Its robustness can be guaranteed if bounds of the uncertainties are known.

The dissertation also presents the calculation of required thrust range of thruster(s) based on constraints of the optimal trajectories and robustness of the controller. Accordingly, thruster capacity can be chosen if related vehicle parameters and requirements of performance are identified.

The dissertation will focus on the case of depth motion control of the vehicle as an illustration for the proposed solutions. Similar ones could be made for other directions of translational motion of the vehicle. The effectiveness of the proposed designs will be demonstrated via simulation results.