| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that an underwater propelling body using nonholonomic constraint with reduced actuators is not put into practical use due to difficulty in controlling the actuators and degradation of performance, so that the reduction of actuators makes no contribution thereto. SOLUTION: For motion control of the propelling body using the nonholonomic constraint, a new optimal control in place of the conventional control of the nonholonomic propelling body is derived with efforts. The control rule is found which is applied to a cylindrical underwater propelling body having only one screw, and the propelling body is moved to an arbitrary position in a three-dimensional space by controlling only magnitude of thrust by the screw and±signs. Thus, costs and reliability of the propelling body are sharply improved. COPYRIGHT: (C)2008,JPO&INPIT
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