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

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

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルProceedings of the 20th (2010) International Offshore and Polar Engineering Conference, ISOPE-2010
ページ406-412
ページ数7
出版ステータス出版済み - 9 10 2010
イベント20th International Offshore and Polar Engineering Conference, ISOPE-2010 - Beijing, 中国
継続期間: 6 20 20106 25 2010

出版物シリーズ

名前Proceedings of the International Offshore and Polar Engineering Conference
2
ISSN(印刷版)1098-6189
ISSN(電子版)1555-1792

その他

その他20th International Offshore and Polar Engineering Conference, ISOPE-2010
国/地域中国
CityBeijing
Period6/20/106/25/10

All Science Journal Classification (ASJC) codes

  • エネルギー工学および電力技術
  • 海洋工学
  • 機械工学

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