Path control of AUV "MR-X1" using thrusters

Masahiko Nakamura, Tadahiro Hyakudome, Hiroshi Yoshida, Taro Aoki

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

4 Citations (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). The motion of the vehicle is controlled by five thrusters and PID control was implemented. In order to improve control performance, the vehicle operating system has been under renovation since 2007, and a model based control (LQI control) is due to be adopted in the future. Successful numerical simulated results are shown in this paper.

Original languageEnglish
Title of host publicationThe Proceedings of the 19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE
Pages657-664
Number of pages8
Publication statusPublished - Dec 1 2009
Event19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE - Osaka, Japan
Duration: Jun 21 2009Jun 26 2009

Publication series

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

Other

Other19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE
CountryJapan
CityOsaka
Period6/21/096/26/09

All Science Journal Classification (ASJC) codes

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

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  • Cite this

    Nakamura, M., Hyakudome, T., Yoshida, H., & Aoki, T. (2009). Path control of AUV "MR-X1" using thrusters. In The Proceedings of the 19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE (pp. 657-664). (Proceedings of the International Offshore and Polar Engineering Conference).