Motion control of AUV "MR-X1" for following observation line

Masahiko Nakamura, Tadahiro Hyakudome, Hiroshi Yoshida, Shojiro Ishibashi, Taro Aoki

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

1 Citation (Scopus)

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 improve control performance, the vehicle operating system has been under renovation since 2007, and a model based control (LQI control) will be adopted soon. The paper summarizes the mathematical model of the vehicle in the current and the design method of the motion controller to follow an observation line, and shows successful numerical simulated results.

Original languageEnglish
Title of host publicationProceedings of the 20th (2010) International Offshore and Polar Engineering Conference, ISOPE-2010
Pages406-412
Number of pages7
Publication statusPublished - Sep 10 2010
Event20th International Offshore and Polar Engineering Conference, ISOPE-2010 - Beijing, China
Duration: Jun 20 2010Jun 25 2010

Publication series

NameProceedings of the International Offshore and Polar Engineering Conference
Volume2
ISSN (Print)1098-6189
ISSN (Electronic)1555-1792

Other

Other20th International Offshore and Polar Engineering Conference, ISOPE-2010
Country/TerritoryChina
CityBeijing
Period6/20/106/25/10

All Science Journal Classification (ASJC) codes

  • Energy Engineering and Power Technology
  • Ocean Engineering
  • Mechanical Engineering

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