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

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

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

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

Division of Earth Environment Dynamics

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of the 20th (2010) International Offshore and Polar Engineering Conference, ISOPE-2010
Pages	406-412
Number of pages	7
Publication status	Published - Sep 10 2010
Event	20th International Offshore and Polar Engineering Conference, ISOPE-2010 - Beijing, China Duration: Jun 20 2010 → Jun 25 2010

Publication series

Name	Proceedings of the International Offshore and Polar Engineering Conference
Volume	2
ISSN (Print)	1098-6189
ISSN (Electronic)	1555-1792

Other

Other	20th International Offshore and Polar Engineering Conference, ISOPE-2010
Country	China
City	Beijing
Period	6/20/10 → 6/25/10

All Science Journal Classification (ASJC) codes

Energy Engineering and Power Technology
Ocean Engineering
Mechanical Engineering

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Motion control of AUV "MR-X1" for following observation line. / Nakamura, Masahiko; Hyakudome, Tadahiro; Yoshida, Hiroshi; Ishibashi, Shojiro; Aoki, Taro.

Proceedings of the 20th (2010) International Offshore and Polar Engineering Conference, ISOPE-2010. 2010. p. 406-412 (Proceedings of the International Offshore and Polar Engineering Conference; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nakamura, M, Hyakudome, T, Yoshida, H, Ishibashi, S & Aoki, T 2010, Motion control of AUV "MR-X1" for following observation line. in Proceedings of the 20th (2010) International Offshore and Polar Engineering Conference, ISOPE-2010. Proceedings of the International Offshore and Polar Engineering Conference, vol. 2, pp. 406-412, 20th International Offshore and Polar Engineering Conference, ISOPE-2010, Beijing, China, 6/20/10.

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