LMIによる自律型無人潜水機制御システムの設計法研究

概要

論文の詳細を見る
Recently, the development of operating robots that take over from human being is desired in extreme environments such as space, undersea and power plant that we can't step into easily. Japan Agency for Marine-Earth Science and Technology (JAMSTEC) has been developed Autonomous Underwater Vehicles (AUV) which can operate itself undersea without our help to explore the vast extent of sea and seabed effectively which the untamed territory has a lot of room. The present paper considers the motion control problem of marine robot 'MR-X1' which is under development at JAMSTEC, and proposes a design method of the control system using LMI that is one of the effective advanced control system design method and running simulations.
社団法人日本船舶海洋工学会の論文
2005-03-20