Development of a motion control method for a towed vehicle with a long cable

S. Yamaguchi, W. Koterayama, T. Yokobiki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

A towed vehicle "Flying Fish" has been developed for ocean observations. The motion of the long towing cable used in the observations is the dominant motion of the towing system, so that an accurate mathematical model of the towing cable must be determined. A design for a motion controller using a mathematical model of the cable motion based on a finite number of eigenfunctions of the cable motion equation is developed for the vehicle. Results of numerical simulation were compared with results from a lumped mass method and it was shown that the transient characteristic of the cable motion depends on the method used for the mathematical model. The designed motion controller was tested in field experiments and its efficiency was confirmed.

Original languageEnglish
Title of host publicationProceedings of the 2000 International Symposium on Underwater Technology, UT 2000
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages491-496
Number of pages6
ISBN (Electronic)0780363787, 9780780363786
DOIs
Publication statusPublished - 2000
Event2nd International Symposium on Underwater Technology, UT 2000 - Tokyo, Japan
Duration: May 23 2000May 26 2000

Publication series

NameProceedings of the 2000 International Symposium on Underwater Technology, UT 2000

Other

Other2nd International Symposium on Underwater Technology, UT 2000
CountryJapan
CityTokyo
Period5/23/005/26/00

All Science Journal Classification (ASJC) codes

  • Computational Theory and Mathematics
  • Automotive Engineering
  • Ocean Engineering
  • Instrumentation

Fingerprint Dive into the research topics of 'Development of a motion control method for a towed vehicle with a long cable'. Together they form a unique fingerprint.

  • Cite this

    Yamaguchi, S., Koterayama, W., & Yokobiki, T. (2000). Development of a motion control method for a towed vehicle with a long cable. In Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000 (pp. 491-496). [852593] (Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/UT.2000.852593