학술논문
Motion control of AUV 'REEF' for monitoring coastal sea environments / 沿岸水域環境モニタリング用 AUV 'REEF' の運動制御
Document Type
Journal Article
Author
Source
日本船舶海洋工学会論文集 / Journal of the Japan Society of Naval Architects and Ocean Engineers. 2013, 17:123
Subject
Language
Japanese
ISSN
1880-3717
1881-1760
1881-1760
Abstract
AUV "REEF" was developed in Osaka University for monitoring environments in coastal sea areas. REEF is characterized as a surface piercing autonomous underwater vehicle using route tracking control in horizontal plane and pitch control in waves in longitudinal plane. Route tracking controller was designed using PID control method, and pitch control was designed using H∞ control method. Route tracking control was evaluated through experiments both in still waters and in winds. Pitch control in waves was evaluated in irregular waves in water tank comparing with PID control.