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dc.contributor.author최영진-
dc.date.accessioned2024-06-05T05:46:34Z-
dc.date.available2024-06-05T05:46:34Z-
dc.date.issued2024-03-
dc.identifier.citation로봇학회 논문지(Journal of Korea Robotics Society), v. 19, no 1, page. 8-15en_US
dc.identifier.issn1975-6291en_US
dc.identifier.issn2287-3961en_US
dc.identifier.urihttps://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART003055485en_US
dc.identifier.urihttps://repository.hanyang.ac.kr/handle/20.500.11754/190502-
dc.description.abstractThis paper proposes a linear model predictive control of 6-DOF remotely operated underwater vehicles using nonlinear robust internal-loop compensator (NRIC). First, we design a integrator embedded linear model prediction controller for a linear nominal model, and then let the real model follow the values calculated through forward dynamics. This work is carried out through an NRIC and in this process, modeling errors and external disturbance are compensated. This concept is similar to disturbance observer-based control, but it has the difference that ∞optimality is guaranteed. Finally, tracking results at trajectory containing the velocity discontinuity point and the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.en_US
dc.languagekoen_US
dc.publisher한국로봇학회en_US
dc.relation.ispartofseriesv. 19, no 1;8-15-
dc.subjectRemotely Operated Underwater Vehicle (ROV)en_US
dc.subjectModel Predictive Control (MPC)en_US
dc.title비선형 강인 내부루프 보상기를 이용한 6자유도 원격조종 수중로봇의 선형 모델예측 제어en_US
dc.title.alternativeLinear Model Predictive Control of 6-DOF Remotely Operated Underwater Vehicle Using Nonlinear Robust Internal-loop Compensatoren_US
dc.typeArticleen_US
dc.relation.no1-
dc.relation.volume19-
dc.identifier.doi10.7746/jkros.2024.19.1.008en_US
dc.relation.page8-15-
dc.relation.journal로봇학회 논문지-
dc.contributor.googleauthor김준식-
dc.contributor.googleauthor최유나-
dc.contributor.googleauthor이동철-
dc.contributor.googleauthor최영진-
dc.relation.code2024015932-
dc.sector.campusE-
dc.sector.daehakCOLLEGE OF ENGINEERING SCIENCES[E]-
dc.sector.departmentDEPARTMENT OF ROBOTICS-
dc.identifier.pidcyj-
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COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ETC
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