SICE Division Conference Program and Abstracts
SICE 2nd Annual Conference on Control Systems
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Host: The Society of Instrument and Control Engineers, Control Division

Maneuvering Control System Design for Autonomous Underwater Vehicle
S. Miyamoto, T. Maeda, K. Hirokawa, T. Ichikawa, T. Saitou, S. Iwasaki, H. Kobayashi, E. Kobayashi, T. Aoki, T. Hyakudome
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CONFERENCE PROCEEDINGS FREE ACCESS

Pages 118

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Abstract
Maneuvering control system for an Autonomous Underwater Vehicle(AUV) is presented. The PID structure and an anti-windup scheme are employed in the control system. The control gains are obtained using the partial model matching method. Sea test results with AUV Urashima are also shown.
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© 2002 SICE
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