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

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

doi:10.1109/SICE.2016.7749263

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 proceeding › Conference contribution

2 Citations (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 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	https://doi.org/10.1109/SICE.2016.7749263
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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Stabilizing control for the attitude of a small-sized X4-AUV. / Tu, Ge Ri Le; Xu, Xiongshi; Watanabe, Keigo ; Nagai, Isaku.

2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1185-1190 7749263.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tu, GRL, 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., 7749263, Institute of Electrical and Electronics Engineers Inc., pp. 1185-1190, 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016, Tsukuba, Japan, 9/20/16. https://doi.org/10.1109/SICE.2016.7749263

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title = "Stabilizing control for the attitude of a small-sized X4-AUV",

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.",

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AU - Tu, Ge Ri Le

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AB - 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.

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KW - Underwater robots

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

Abstract

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Keywords

ASJC Scopus subject areas

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