SICE Division Conference Program and Abstracts
SICE 2nd Annual Conference on Control Systems
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Maneuvering Control System Design for Autonomous Underwater Vehicle
S. MiyamotoT. MaedaK. HirokawaT. IchikawaT. SaitouS. IwasakiH. KobayashiE. KobayashiT. AokiT. 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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