Design of controller for cruising AUV "URASHIMA"

Tadahiro Hyakudome, Masahiko Nakamura, Satoshi Tsukioka, Takao Sawa, Kojiro Watanabe, Junya Ishiwata, Akihisa Ishikawa, Hiroshi Yoshida, Shojiro Ishibashi, Taro Aoki

研究成果: 著書/レポートタイプへの貢献会議での発言

1 引用 (Scopus)

抄録

There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. AUVs (Autonomous Underwater Vehicle) were considered and chosen, as the most suitable tool for conducting surveys concerning these global environmental problems. JAMSTEC has started to build a long range cruising AUV. An AUV, named "URASHIMA" was built in1999, and sea trials have been held since 2000. At the end of February 2005, the vehicle was able to cruise autonomously and continuously for 317km. Recently the vehicle has begun to undertake cruises for scientific applications. These applications require precise maneuvering of the vehicle for detailed investigations. For high performance maneuvering of the vehicle, it is necessary to design a control system based on a mathematical model for the vehicle. Since the vehicle was built, PI control has been adopted. In order to improve control performance, the motion controller can be design by means of a model-based approach (e.g. LQI control). This paper describes the mathematical model of the vehicle, experimental results of maneuverability obtained with the AUV "URASHIMA" during the sea trials, the design method of the motion controller, and shows calculated results.

元の言語英語
ホスト出版物のタイトルThe Proceedings of the 19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE
ページ665-668
ページ数4
出版物ステータス出版済み - 12 1 2009
外部発表Yes
イベント19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE - Osaka, 日本
継続期間: 6 21 20096 26 2009

出版物シリーズ

名前Proceedings of the International Offshore and Polar Engineering Conference
ISSN(印刷物)1098-6189
ISSN(電子版)1555-1792

その他

その他19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE
日本
Osaka
期間6/21/096/26/09

Fingerprint

Autonomous underwater vehicles
Controllers
Mathematical models
Maneuverability
Global warming
Water levels
Control systems

All Science Journal Classification (ASJC) codes

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

これを引用

Hyakudome, T., Nakamura, M., Tsukioka, S., Sawa, T., Watanabe, K., Ishiwata, J., ... Aoki, T. (2009). Design of controller for cruising AUV "URASHIMA". : The Proceedings of the 19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE (pp. 665-668). (Proceedings of the International Offshore and Polar Engineering Conference).

Design of controller for cruising AUV "URASHIMA". / Hyakudome, Tadahiro; Nakamura, Masahiko; Tsukioka, Satoshi; Sawa, Takao; Watanabe, Kojiro; Ishiwata, Junya; Ishikawa, Akihisa; Yoshida, Hiroshi; Ishibashi, Shojiro; Aoki, Taro.

The Proceedings of the 19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE. 2009. p. 665-668 (Proceedings of the International Offshore and Polar Engineering Conference).

研究成果: 著書/レポートタイプへの貢献会議での発言

Hyakudome, T, Nakamura, M, Tsukioka, S, Sawa, T, Watanabe, K, Ishiwata, J, Ishikawa, A, Yoshida, H, Ishibashi, S & Aoki, T 2009, Design of controller for cruising AUV "URASHIMA". : The Proceedings of the 19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE. Proceedings of the International Offshore and Polar Engineering Conference, pp. 665-668, 19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE, Osaka, 日本, 6/21/09.
Hyakudome T, Nakamura M, Tsukioka S, Sawa T, Watanabe K, Ishiwata J その他. Design of controller for cruising AUV "URASHIMA". : The Proceedings of the 19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE. 2009. p. 665-668. (Proceedings of the International Offshore and Polar Engineering Conference).
Hyakudome, Tadahiro ; Nakamura, Masahiko ; Tsukioka, Satoshi ; Sawa, Takao ; Watanabe, Kojiro ; Ishiwata, Junya ; Ishikawa, Akihisa ; Yoshida, Hiroshi ; Ishibashi, Shojiro ; Aoki, Taro. / Design of controller for cruising AUV "URASHIMA". The Proceedings of the 19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE. 2009. pp. 665-668 (Proceedings of the International Offshore and Polar Engineering Conference).
@inproceedings{030e47480267432d95d86e7840f6043a,
title = "Design of controller for cruising AUV {"}URASHIMA{"}",
abstract = "There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. AUVs (Autonomous Underwater Vehicle) were considered and chosen, as the most suitable tool for conducting surveys concerning these global environmental problems. JAMSTEC has started to build a long range cruising AUV. An AUV, named {"}URASHIMA{"} was built in1999, and sea trials have been held since 2000. At the end of February 2005, the vehicle was able to cruise autonomously and continuously for 317km. Recently the vehicle has begun to undertake cruises for scientific applications. These applications require precise maneuvering of the vehicle for detailed investigations. For high performance maneuvering of the vehicle, it is necessary to design a control system based on a mathematical model for the vehicle. Since the vehicle was built, PI control has been adopted. In order to improve control performance, the motion controller can be design by means of a model-based approach (e.g. LQI control). This paper describes the mathematical model of the vehicle, experimental results of maneuverability obtained with the AUV {"}URASHIMA{"} during the sea trials, the design method of the motion controller, and shows calculated results.",
author = "Tadahiro Hyakudome and Masahiko Nakamura and Satoshi Tsukioka and Takao Sawa and Kojiro Watanabe and Junya Ishiwata and Akihisa Ishikawa and Hiroshi Yoshida and Shojiro Ishibashi and Taro Aoki",
year = "2009",
month = "12",
day = "1",
language = "English",
isbn = "9781880653531",
series = "Proceedings of the International Offshore and Polar Engineering Conference",
pages = "665--668",
booktitle = "The Proceedings of the 19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE",

}

TY - GEN

T1 - Design of controller for cruising AUV "URASHIMA"

AU - Hyakudome, Tadahiro

AU - Nakamura, Masahiko

AU - Tsukioka, Satoshi

AU - Sawa, Takao

AU - Watanabe, Kojiro

AU - Ishiwata, Junya

AU - Ishikawa, Akihisa

AU - Yoshida, Hiroshi

AU - Ishibashi, Shojiro

AU - Aoki, Taro

PY - 2009/12/1

Y1 - 2009/12/1

N2 - There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. AUVs (Autonomous Underwater Vehicle) were considered and chosen, as the most suitable tool for conducting surveys concerning these global environmental problems. JAMSTEC has started to build a long range cruising AUV. An AUV, named "URASHIMA" was built in1999, and sea trials have been held since 2000. At the end of February 2005, the vehicle was able to cruise autonomously and continuously for 317km. Recently the vehicle has begun to undertake cruises for scientific applications. These applications require precise maneuvering of the vehicle for detailed investigations. For high performance maneuvering of the vehicle, it is necessary to design a control system based on a mathematical model for the vehicle. Since the vehicle was built, PI control has been adopted. In order to improve control performance, the motion controller can be design by means of a model-based approach (e.g. LQI control). This paper describes the mathematical model of the vehicle, experimental results of maneuverability obtained with the AUV "URASHIMA" during the sea trials, the design method of the motion controller, and shows calculated results.

AB - There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. AUVs (Autonomous Underwater Vehicle) were considered and chosen, as the most suitable tool for conducting surveys concerning these global environmental problems. JAMSTEC has started to build a long range cruising AUV. An AUV, named "URASHIMA" was built in1999, and sea trials have been held since 2000. At the end of February 2005, the vehicle was able to cruise autonomously and continuously for 317km. Recently the vehicle has begun to undertake cruises for scientific applications. These applications require precise maneuvering of the vehicle for detailed investigations. For high performance maneuvering of the vehicle, it is necessary to design a control system based on a mathematical model for the vehicle. Since the vehicle was built, PI control has been adopted. In order to improve control performance, the motion controller can be design by means of a model-based approach (e.g. LQI control). This paper describes the mathematical model of the vehicle, experimental results of maneuverability obtained with the AUV "URASHIMA" during the sea trials, the design method of the motion controller, and shows calculated results.

UR - http://www.scopus.com/inward/record.url?scp=74549213345&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=74549213345&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:74549213345

SN - 9781880653531

T3 - Proceedings of the International Offshore and Polar Engineering Conference

SP - 665

EP - 668

BT - The Proceedings of the 19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE

ER -