• DocumentCode
    1961803
  • Title

    Maneuvering control system design for autonomous underwater vehicle

  • Author

    Miyamaoto, S. ; Aoki, T. ; Maeda, T. ; Hirokawa, K. ; Ichikawa, T. ; Saitou, T. ; Kobayashi, H. ; Kobayashi, E. ; Iwasaki, S.

  • Author_Institution
    Mitsubishi Heavy Industries Ltd., Japan
  • Volume
    1
  • fYear
    2001
  • fDate
    2001
  • Firstpage
    482
  • Abstract
    Maneuvering control system for an autonomous underwater vehicle (AUV) is presented. The PID structure and an and-windup scheme are employed In the control system. The control gains are obtained using the partial model matching method. Sea test results are also shown
  • Keywords
    control system synthesis; mobile robots; three-term control; underwater vehicles; AUV; PID control system design; PID structure; anti-windup scheme; autonomous underwater vehicle; maneuvering control system design; partial model matching method; Actuators; Control system synthesis; Control systems; Fault tolerant systems; Motion control; Nonlinear control systems; Nonlinear equations; Three-term control; Underwater vehicles; Vehicle dynamics;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    OCEANS, 2001. MTS/IEEE Conference and Exhibition
  • Conference_Location
    Honolulu, HI
  • Print_ISBN
    0-933957-28-9
  • Type

    conf

  • DOI
    10.1109/OCEANS.2001.968771
  • Filename
    968771
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1961803