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.