3-Dimensional Trajectory Tracking Control of an AUV “R-One Robot” Considering Current Interaction

摘要

This paper describes the feature of newly devised 3-dimensional target trajectory tracking control scheme for an AUV “R-One Robot”, which was developed by joint cooperation between Institute of Industrial Science, University of Tokyo and Mitsui Engineering & Shipbuilding, aiming at various practical underwater missions. Dynamics model of ROne robot was derived as a set of equations of motion, describing coupled 6-D.O.F. motions in space. In completing this model, iterative CFD analyses were carried out in order to evaluate hydrodynamic forces and moments, which consist of external loads to the dynamic system. Derived lateral and longitudinal dynamics models were applied in designing heading and depth control systems, both of which are to run to achieve trajectory tracking mission in underwater space. Modification of control input to cancel out external disturbance component normal to the reference trajectory realized the trajectory tracking control under current interaction. Application of this advanced control scheme is expected to enable the AUV to challenge more difficult and practical missions, getting over adverse underwater disturbances even in the vicinity of complicated underwater geography.