水中ロボットの定位置制御

抄録

Studies on the underwater vehicle: UWV are classified into automatic control called AUVs and wired control type: ROVs. Generally driving force of the UWV is employed a screw or a water jet. Most of UWV studies have been focused on attitude control systems. However few researches attempted position control systems. Since viscosity of water is higher than the ground of viscosity, the UWV is strongly influenced by disturbances such as wave. It is difficult to stay at the constant position. The purpose of our research, therefore, is to propose fixed position control for the UWV. In this paper, a novel control system for the position control with disturbance observer is proposed. Finally, validity of proposed system is experimented by several simulations.