선택적 스위칭 제어기의 선택 전략 비교 분석

We developed an underwater robot with tilting thrusters and designed the selective switching controller for stable hovering motion. 6-DOF motion dynamics were divided into two 3-DOF subsystems according to tilting angle, and two PD controllers for each 3-DOF subsystems were designed. Selection logic switched between sub-controllers depending on the error of robot motion in real-time. The selection strategy has a major influence on the state trajectories under selective switching control. This paper compares with three selection strategies which have criterion of maximum value, average, and norm of errors. The characteristics of each strategy are analyzed from simulation results. This work can lay the base for optimal selection strategy.