6 자유도 수중로봇 플랫폼의 백스테핑 제어를 위한 제어이득 최적화

Title
6 자유도 수중로봇 플랫폼의 백스테핑 제어를 위한 제어이득 최적화
Other Titles
Gain Optimization of a Back-Stepping Controller for 6-Dof Underwater Robotic Platform
Author(s)
서태원김지훈[김지훈]김종원[김종원]진상록[진상록]김종원[김종원]
Keywords
Gain optimization (게인 최적화); Underwater robotic platform (수중로봇 플랫폼); Back-stepping control (백스테핑 제어); Trust-region algorithm (신뢰-구간 알고리즘); Taguchi method (다구찌 방법론)
Issue Date
201310
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v.30, no.10, pp.1031 - 1039
Abstract
This paper presents gain optimization of a 6-DOF underwater robotic platform with 4 rotatable thrusters. To stabilize the 6-DOF motion of the underwater robotic platform, a back-stepping controller is designed with 6 proportional gains and 6 derivative gains. The 12 gains of the backstepping controller are optimized to decrease settling time in step response in 6-DOF motion independently. Stability criterion and overshoots are used as a constraint of the optimization problem. Trust-region algorithm and hybrid Taguchi-Random order Coordinate search algorithm are used to determine the optimal parameters, and the results by two methods are analyzed. Additionally, the resulting controller shows improved performance under disturbances.
URI
http://hdl.handle.net/YU.REPOSITORY/28698
ISSN
1225-9071
Appears in Collections:
공과대학 > 기계공학부 > Articles
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