A Study on the Controller Design of Unmanned Surface Vessel through Repetitive Learning Method

Kim, Mincheul

doi:2018.21.6.850

J. KIMS Technol > Volume 21(6); 2018 > Article

Research Paper

Journal of the Korea Institute of Military Science and Technology 2018;21(6):850-856.
DOI: https://doi.org/10.9766/KIMST.2018.21.6.850

A Study on the Controller Design of Unmanned Surface Vessel through Repetitive Learning Method

Mincheul Kim

Department of Mechanical Engineering, Korea Army Academy at Yeongcheon

반복 학습을 통한 무인 선박의 제어기 설계에 관한 연구

김민철

육군3사관학교 기계공학과

Abstract

In this paper, a controller based on repetitive learning control is designed to control an unmanned surface vessel with nonlinear characteristics and unknown parameters. First, we define the equations of motion and error system of the unmanned vessel, and then design an repetitive learning controller composed of system error and estimated unknown parameters based on repetitive learning control and adaptive control. The stability of the unmanned vessel model controlled by the designed controller is verified through the analysis of the Lyapunov stability. Simulation shows that the error converges asymptotically to zero with semi-global result, confirming that the unmanned vessel is moving toward a given ideal path, and verifies that the controller is also feasible.

Key Words: Unmanned Surface Vessel, Repetitive Learning Control, Lyapunov Stability