Motion Control of AUV "MR-X1" by Thrusters

DOI NDL Digital Collections Web Site Web Site 4 Citations 15 References

Bibliographic Information

Other Title
  • 小型 AUV “MR-X1”のスラスターによる運動制御
  • コガタ AUV MR X1 ノ スラスター ニ ヨル ウンドウ セイギョ

Search this article

Description

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.The paper summarizes the mathematical model of the vehicle and the design method of the motion and path controller, and shows successful numerical simulated results.

Journal

Citations (4)*help

See more

References(15)*help

See more

Related Projects

See more

Details 詳細情報について

Report a problem

Back to top