제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

The design method research of the control system for Autonomous Underwater Vehicle (AUV) using Linear Matrix Inequality (LMI)

  • Nasuno, Youhei (Department of Marine System Engineering, Tokyo University of Marine Science and Technology) ;
  • Shimizu, Etsuro (Department of Marine Mechanical Engineering, Tokyo University of Marine Science and Technology) ;
  • Aoki, Taro (Marine Technology Center, Japan Agency for Marine-Earth Science and Technology (JAMSTEC)) ;
  • Yomamoto, Ikuo (Marine Technology Center, Japan Agency for Marine-Earth Science and Technology (JAMSTEC)) ;
  • Hyakudome, Tadahiro (Marine Technology Center, Japan Agency for Marine-Earth Science and Technology (JAMSTEC)) ;
  • Tsukioka, Satoshi (Marine Technology Center, Japan Agency for Marine-Earth Science and Technology (JAMSTEC)) ;
  • Yoshida, Hiroshi (Marine Technology Center, Japan Agency for Marine-Earth Science and Technology (JAMSTEC)) ;
  • Ishibashi, Shojiro (Marine Technology Center, Japan Agency for Marine-Earth Science and Technology (JAMSTEC)) ;
  • Ito, Masanori (Department of Marine Mechanical Engineering, Tokyo University of Marine Science and Technology) ;
  • Sasamoto, Ryoko (Department of Electrical Mechanical Engineering, Tokyo University of Marine Science and Technology)
  • Published : 2005.06.02
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Abstract

An Independent Administrative Corporation Japan Agency for Marine-Earth Science and Technology (JAMSTEC) is developing light-and-small Autonomous Underwater Vehicles (AUV)$^{1)}$, named 'MR-X1' (Marine Robot Experimental 1), which can cruise, investigate and observe by itself without human's help. In this paper, we consider the motion control problem of 'MR-X1' and derive a controller. Since the dynamic property of 'MR-X1' is changed by the influence of the speed, the mathematical model of 'MR-X1' becomes the nonlinear model. In order to design a controller for 'MR-X1', we generally apply nonlinear control theories or linear control theories with some constant speed situation. If we design a controller by applying Linear Quadratic (LQ) optimal control theory, the obtained controller only compensates t e optimality at the designed speed situation, and does not compensate the stability at another speed situations. This paper proposes a controller design method using Linear Matrix Inequalities (LMIs)$^{2),3),4)}$, which can adapt the speed variation of 'MR-X1'. And examples of numerical analysis using our designed controller are shown.

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