SummaryA 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 assure high maneuverability under low-speed cruising and good hovering performance, the motion of the vehicle is controlled by five thrusters.When the vehicle was built, PID control was implemented, but in order to improve control performance, renovation of the vehicle operating system has been ongoing since 2007, and a model based control (LQI control) is due to be adopted when this is complete.The paper summarizes the mathematical model of the vehicle and the design method of the motion and path controller, and shows successful numerical simulated results.
A small AUV "MR-X1" is being developed for detailed investigations 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. In order to improve control performance, digital implementation of a model based controller (LQI controller) was begun in 2009, and field experiments were carried out in the sea area near the volcano "Teishi Kaikyuu" in Sagami Bay on February 8, 2010. In this paper, the results of field experiments on direction control of the vehicle are summarized, and the motion equations of the vehicle required for a model based controller (LQI controller) are modified by using the results of the field experiments.
The Japan Agency for Marine-Earth Science and Technology is developing an automatic bottom inspection and sampling mobile (ABISMO), which is a full-depth rating ROV (Remotely Operated Vehicle) for reaching to the deepest sea bottom, observing it with a camera and sampling the bottom layer. ABISMO consists of a launcher and a vehicle. The launcher is a kind of depressor with many observation devices, and
SummaryA 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 assure high maneuverability under low-speed cruising and good hovering performance, the motion of the vehicle is controlled by five thrusters.When the vehicle was built, PID control was implemented, but in order to improve control performance, renovation of the vehicle operating system has been ongoing since 2007, and a model based control (LQI control) is due to be adopted when this is complete. This paper summarizes the design method of the motion controller to cruise along an observation line in the current, and shows successful simulated results.
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