TY - GEN
T1 - Path control of AUV "MR-X1" using thrusters
AU - Nakamura, Masahiko
AU - Hyakudome, Tadahiro
AU - Yoshida, Hiroshi
AU - Aoki, Taro
PY - 2009/12/1
Y1 - 2009/12/1
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). 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.
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). 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.
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M3 - Conference contribution
AN - SCOPUS:74549125086
SN - 9781880653531
T3 - Proceedings of the International Offshore and Polar Engineering Conference
SP - 657
EP - 664
BT - The Proceedings of the 19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE
T2 - 19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE
Y2 - 21 June 2009 through 26 June 2009
ER -