Stabilizing control for the attitude of a small-sized X4-AUV

Ge Ri Le Tu, Xiongshi Xu, Keigo Watanabe, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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 languageEnglish
Title of host publication2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1185-1190
Number of pages6
ISBN (Electronic)9784907764500
DOIs
Publication statusPublished - Nov 18 2016
Event55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 - Tsukuba, Japan
Duration: Sep 20 2016Sep 23 2016

Other

Other55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
CountryJapan
CityTsukuba
Period9/20/169/23/16

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