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.
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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
T2 - 20th International Offshore and Polar Engineering Conference, ISOPE-2010
Y2 - 19 June 2010 through 24 June 2010
ER -
