Abstract
Autonomous underwater vehicles (AUVs) have great advantages for activities in deep oceans, and are expected as the attractive tool for underwater development or investigation near future. AUVs need intelligent behavioral decision and accurate motion control for accomplish given missions. For example, in the ocean survey, accurate space positioning is necessary for observation of high accuracy. In this paper, we report about motion control system of the underwater robot "Twin-Burger". First, we estimated parameters in the dynamics. Then, we simulated motion control of the robot using estimated parameters. Finally, we experimented with tracking control using developed controller.
