Abstract
In this research, an X4-AUV consisting of four thrusters is designed and manufactured to develop a small AUV which does not use any rudders. First, the construction of an X4-AUV and the motion method are described, together with the added mass. Next, for the production of the X4-AUV, we describe the selection of parts and the manufacture of a waterproofed container, and some experiments are conducted to verify the forward motion of the X4-AUV and the rotational motion in each attitude. We propose a method for stabilizing the attitude of the X4-AUV, and confirm the usefulness of the method through the experiments.
| Original language | English |
|---|---|
| Title of host publication | 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1185-1190 |
| Number of pages | 6 |
| ISBN (Electronic) | 9784907764500 |
| DOIs | |
| Publication status | Published - Nov 18 2016 |
| Event | 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 - Tsukuba, Japan Duration: Sep 20 2016 → Sep 23 2016 |
Other
| Other | 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 |
|---|---|
| Country | Japan |
| City | Tsukuba |
| Period | 9/20/16 → 9/23/16 |
Keywords
- Attitude control
- AUV
- Underwater robots
ASJC Scopus subject areas
- Control and Optimization
- Instrumentation
- Control and Systems Engineering
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Cite this
Tu, G. R. L., Xu, X., Watanabe, K., & Nagai, I. (2016). Stabilizing control for the attitude of a small-sized X4-AUV. In 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 (pp. 1185-1190). [7749263] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2016.7749263