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 |
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All Science Journal Classification (ASJC) codes
- Energy Engineering and Power Technology
- Ocean Engineering
- Mechanical Engineering
Cite this
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
}
TY - GEN
T1 - Motion control of AUV "MR-X1" for following observation line
AU - Nakamura, Masahiko
AU - Hyakudome, Tadahiro
AU - Yoshida, Hiroshi
AU - Ishibashi, Shojiro
AU - Aoki, Taro
PY - 2010/9/10
Y1 - 2010/9/10
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77956305267&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77956305267&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:77956305267
SN - 9781880653777
T3 - Proceedings of the International Offshore and Polar Engineering Conference
SP - 406
EP - 412
BT - Proceedings of the 20th (2010) International Offshore and Polar Engineering Conference, ISOPE-2010
ER -