인문학
사회과학
자연과학
공학
의약학
농수해양학
예술체육학
복합학
DBpia AI
AI 에이전트
AI 아이디어
AI 리더
AI 뷰어
Citeasy
크롬 서지관리 다운로드
지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
초록·키워드
This paper presents a path for a remotely operated vehicle (ROV) to retrieve an underwater glider and proposes a backstepping-based control method that utilizes a command filter and an adaptive term for trajectory tracking. The ROV path, which consists of diving, approaching, and ascending to reach the underwater glider while minimizing wave disturbances, is generated using a fifth-order polynomial trajectory generation method. To address the complexity of the backstepping method, the virtual control signal is replaced with a command filter signal. Additionally, a compensation mechanism is configured to suppress filter errors. An adaptive term based on Lyapunov stability is incorporated to compensate for lumped disturbances to enhance system control performance. The stability of the entire control system is proven through Lyapunov stability theory. To verify the performance of the proposed controller, simulations are conducted to track the configured path in a marine environment. This environment includes waves and ocean currents, with wave disturbances modeled based on the movement of water particles in waves. The simulation results demonstrate that the proposed controller achieves superior tracking performance and resilience against disturbances compared with the proportional-integral-differential controller.
본문·목차
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UCI(KEPA) : I410-151-25-02-091071723
