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Abenezer Zegeye,Sunghun Jung 항공우주시스템공학회 2024 항공우주시스템공학회 학술대회 발표집 Vol.2024 No.5
This research work presents an advanced approach to enhance the recovery of Vertical Takeoff Vertical Landing (VTVL) rockets in challenging ocean environments. The study utilizes a robot arm-equipped Wave Adaptive Modular Vessel (WAM-V) Unmanned Surface Vehicle (USV) and employs a comprehensive control strategy. The control system governs both the heading of the USV and the target position it needs to reach. Additionally, the forward and inverse kinematics of the robot arm are calculated to determine the end-effector position. By accurately estimating the rockets location relative to the end-effector, precise control of each joint is achieved through inverse kinematics, enabling the robot arms end-effector to navigate to the intended location. The control scheme employed in this research utilizes the robust Sliding Mode Controller (SMC) for both the USV and the robot arm control. The SMC controller is known for its resilience against uncertainties and disturbances. The findings of this research have significant implications for rocket retrieval and recovery operations.