Name
Title | ||
|---|---|---|
Design method for a new control system for an autonomous underwater vehicle using linear matrix inequalities |
Abstract | ||
|---|---|---|
The independent administrative corporation Japan Agency for Marine–Earth Science and Technology (JAMSTEC) has developed a
small light autonomous underwater vehicle (AUV) named marine robot experimental 1 (MR-X1).1 The motion control of MR-X1 is considered in this article. Since the dynamics of MR-X1 mainly depends on its own speed, the motion control is a nonlinear control system. We propose a new controller design method
for this system using linear matrix inequalities (LMIs). This algorithm gives a solution as a linear matrix inequality, and
can be adapted to solve many LMIs simultaneously. LMIs can be obtained by substituting several speeds into the dynamics of
the MR-X1. The proposed controller, which can be derived from the solution of the LMIs, was adapted to MR-X1 and showed good performance in experiments. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1007/s10015-007-0419-y | Artificial Life and Robotics |
Keywords | DocType | Volume |
autonomous underwater vehicle auv · marine robot experimental 1 mr-x1 · linear matrix inequality lmi · linear quadratic lq optimal control,linear matrix inequality,design method,control system,optimal control,motion control,science and technology | Journal | 11 |
Issue | ISSN | Citations |
2 | 1614-7456 | 0 |
PageRank | References | Authors |
0.34 | 1 | 9 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yohei Nasuno | 1 | 4 | 1.26 |
| Etsuro Shimizu | 2 | 5 | 3.19 |
| Masanori Ito | 3 | 69 | 15.48 |
| Ikuo Yamamoto | 4 | 0 | 1.01 |
| Satoshi Tsukioka | 5 | 4 | 1.60 |
| Hiroshi Yoshida | 6 | 6 | 3.95 |
| Tadahiro Hyakudome | 7 | 1 | 1.09 |
| Shojiro Ishibashi | 8 | 5 | 1.67 |
| Taro Aoki | 9 | 7 | 2.63 |