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
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;
Conference_Titel :
OCEANS, 2001. MTS/IEEE Conference and Exhibition
Conference_Location :
Honolulu, HI
Print_ISBN :
0-933957-28-9
DOI :
10.1109/OCEANS.2001.968771
