Modeling and Control of Underwater Vehicle around a Low Speed Cruising Area
Ikuo YAMAMOTO, Yuuzi TERADA
An increasing attention has been attracted toward the development of ROV (remotely operated vehicle) systems for the purpose of investigation and operation in the ocean. It is necessary for ROV to have high maneuvering performance for these purposes. Then, it is important to construct the control system of ROV especially at low speed cruising.
The authors constructed a model of low speed cruisung ROV for control law design, because there has been, as yet, no establishment for such a model. Utilizing the model, the optimal robust control theory was applied to improve the characteristics of ROV system. Basic methods for modeling the vehicle and for designing the control system were constructed. The effectiveness of these methods was confirmed.