Abstract
The independent administrative corporation Japan Agency for Marine–Earth Science and Technology (JAMSTEC) has developed a small light autonomous underwater vehicle (AUV) named marine robot experimental 1 (MR-X1).1 The motion control of MR-X1 is considered in this article. Since the dynamics of MR-X1 mainly depends on its own speed, the motion control is a nonlinear control system. We propose a new controller design method for this system using linear matrix inequalities (LMIs). This algorithm gives a solution as a linear matrix inequality, and can be adapted to solve many LMIs simultaneously. LMIs can be obtained by substituting several speeds into the dynamics of the MR-X1. The proposed controller, which can be derived from the solution of the LMIs, was adapted to MR-X1 and showed good performance in experiments.
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Nasuno Y, Shimizu E, Aoki T, et al. A controller design for autonomous underwater vehicle MR-X1 using linear matrix inequalities. Int J Control (in press). DOI 10.1080/00207170701282214
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This work was presented in part at the 11th International Symposium on Artificial Life and Robotics, Oita, Japan, January 23–25, 2006
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Nasuno, Y., Shimizu, E., Ito, M. et al. Design method for a new control system for an autonomous underwater vehicle using linear matrix inequalities. Artif Life Robotics 11, 149–152 (2007). https://doi.org/10.1007/s10015-007-0419-y
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DOI: https://doi.org/10.1007/s10015-007-0419-y