A Study on a Intelligence Depth Control of Underwater Flight Vehicle

,; ,; ,; ,

Journal of the Korea Institute of Military Science and Technology 2001;4(2):30-41.

, , ,

Underwater Flight Vehicle의 지능형 심도 제어에 관한 연구

김현식, 황수복, 신용구, 최중락

국방과학연구소

Abstract

In Underwater Flight Vehicle depth control system, the followings must be required. First, It needs a robust performance which can get over the nonlinear characteristics due to hull shape. Second, It needs an accurate performance which has the small overshoot phenomenon and steady state error to avoid colliding with ground surface and obstacles. Third, It needs a continuous control input to reduce the acoustic noise. Finally, It needs an effective interpolation method which can reduce the dependency of control parameters on speed. To solve these problems, we propose a Intelligence depth control method using Fuzzy Sliding Mode Controller and Neural Network Interpolator. Simulation results show the proposed control scheme has robust and accurate performance by continuous control input and has no speed dependency problem.

Key Words: Underwater Flight Vehicle, Fuzzy Sliding Mode Controller, Neural network Interpolators