Controller Design of Small AUV "MR-X1" for Cruising along Observation Line
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- Nakamura Masahiko
- 海洋研究開発機構（九州大学 応用力学研究所）
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- Tadahiro Hyakudome
- 海洋研究開発機構
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- Yoshida Hiroshi
- 海洋研究開発機構
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- Ishibashi Shojiro
- 海洋研究開発機構
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- Aoki Taro
- 海洋研究開発機構
Bibliographic Information
- Other Title
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- 小型ＡＵＶ ″ＭＲ－Ｘ１″ の測線上航走性能向上に関する研究
- 小型AUV"MR-X1"の測線上航走性能向上に関する研究
- コガタ AUV MR X1 ノ ソクセンジョウ コウソウ セイノウ コウジョウ ニ カンスル ケンキュウ
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Abstract
A small AUV "MR-X1" was developed in 2000 for detailed investigation of the seafloor and marine organisms at JAMSTEC (Japan Agency for Marine-Earth Science and Technology). In order to assure high maneuverability under low-speed cruising and good hovering performance, the motion of the vehicle is controlled by five thrusters. When the vehicle was built, PID control was implemented, but in order to improve control performance, renovation of the vehicle operating system has been ongoing since 2007, and a model based control (LQI control) is due to be adopted when this is complete.This paper summarizes the design method of the motion controller to cruise along an observation line in the current, and shows successful simulated results.
Journal
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- Journal of the Japan Society of Naval Architects and Ocean Engineers
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Journal of the Japan Society of Naval Architects and Ocean Engineers 12 165-173, 2010
The Japan Society of Naval Architects and Ocean Engineers
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Details 詳細情報について
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- CRID
- 1390001205253565056
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- NII Article ID
- 130001333128
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- NII Book ID
- AA12057769
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- ISSN
- 18811760
- 18803717
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- NDL BIB ID
- 10988621
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed
