JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
Print ISSN : 1340-8062
Theoretical Research on the Modelling of a Low-Speed Cruising Vehicle a for Control Law Design
Ikuo Yamamoto, Yuuzi Terada
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Keywords: Underwater Remotely Operated Vehicle, Modelling, Optimal Robust Control Design, Low-Speed Cruising Area
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Volume 37 (1994) Issue 3 Pages 521-527

DOI https://doi.org/10.1299/jsmec1993.37.521
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Abstract

The modelling of underwater vehicles in a low-speed cruising area was performed for control law design. Utilizing the model, the optimal robust control theory was applied to improve the characteristics of the system. Methods for modelling the vehicle and for designing the control system were tested, and their effectiveness was confirmed.

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