Control In Horizontal Plane Research Articles

Monitoring of Seaweed Bed by a Surface Piercing Autonomous Underwater Vehicle with a Sidescan Sonar

AUV ‘REEF’ was developed in Osaka University for monitoring environments in coastal sea areas. ‘REEF’ is characterized as a surface piercing autonomous underwater vehicle using route tracking control in horizontal plane and pitch control in waves in longitudinal plane. Route tracking controller was designed using PID control method, and pitch control is designed using H∞ control method. AUV ‘REEF’ will be operated in coastal sea areas in Tohoku to monitor the seaweed beds heavily damaged by the March 11 2011 Japan Tohoku earthquake and Tsunami. The estimation method of standing biomass of seaweed was developed using AUV ‘REEF’ equipped with a sidescan sonar.

沿岸水域環境モニタリング用 AUV "REEF" の運動制御

AUV "REEF" was developed in Osaka University for monitoring environments in coastal sea areas. REEF is characterized as a surface piercing autonomous underwater vehicle using route tracking control in horizontal plane and pitch control in waves in longitudinal plane. Route tracking controller was designed using PID control method, and pitch control was designed using H∞ control method. Route tracking control was evaluated through experiments both in still waters and in winds. Pitch control in waves was evaluated in irregular waves in water tank comparing with PID control.

1A2-D06 Path Followingに基づいた屋外型飛行船ロボットの滞空制御

A surveillance system is required to gather the suffering information in the stricken area safely after large-scale disasters. An autonomous blimp is the best option for this purpose. This paper proposes a control design method for automatic hovering under strong wind of outdoor blimp robots by path following approach. The hovering method consists of inverse optimal path following control in horizontal plane and longitudinal control for altitude and pitching motion of the blimp. Some simulations and experiments are performed to confirm the usefulness of the proposed method by using an outdoor blimp whose length is 12m.

屋外型飛行船ロボットの自動着陸制御(機械力学,計測,自動制御)

The establishment of the information gathering system is important for the rescue activity. To collect the information, it is useful to use a blimp, because of its low-sky availability, safety and long flight. This paper proposes a control design method for automatic landing of an outdoor blimp robot. This is important for the information-gathering system by an outdoor blimp robot to be put to practical use. The landing control consists of stabilizing control in horizontal plane and vertical control. The stabilizing control is designed by using H_∞ control. The vertical control is composed of control of altitude and pitching motion. Some simulations and experiments are performed in evaluation of the control performance. As a result, the outdoor blimp robot showed a sufficient control performance of automatic landing.

Automatic Landing Control of Outdoor Blimp Robots

A surveillance system is required to gather the suffering information in the stricken area safely after large-scale disasters. An autonomous blimp is the best option for this purpose. This paper proposes a control design method for automatic landing of outdoor blimp robots. The landing method consists of stabilizing control in horizontal plane and longitudinal control for letdown-velocity and pitching motion of the blimp. The states of the kinematic model are transformed to design a time-varying stabilizing controller in horizontal plane to constrain the blimp motion. Some simulations and experiments are performed to confirm the usefulness of the proposed method by using an outdoor blimp whose length is 12m.

A14 横滑りを考慮した屋外型飛行船ロボットの自動着陸制御(OS3 ロボットのダイナミクスと制御1)

A surveillance system is required to gather the suffering information in the stricken area safely after large- scale disasters. An autonomous blimp is the best option for this purpose. This paper proposes a control design method for automatic landing of outdoor blimp robots with lateral slip. The landing method consists of stabilizing control in horizontal plane and longitudinal control for letdown-velocity and pitching motion of the blimp. A stabilizing controller considering wind is designed by inverse opimal control. Some simulations are performed to confirm the usefulness of the proposed method.

2P2-E17 4WD全方向移動車椅子の研究 : 2次元倒立振子の安定化制御

Stability control of a 2DOF Inverted pendulum by a wheeled cart is presented in this paper. A twin-caster drive mechanism is used for controlling an inverted pendulum. Independent motion control of the mechanism in x and y direction, namely holonomic motion control in horizontal plane, enables the stable control of 2DOF of the inverted pendulum. The experiments are presented to demonstrate the availability of the drive mechanism and the control system.