Maneuvering control system for an Autonomous Underwater Vehicle(AUV) is presented. The PID structure and an anti-windup scheme are employed in the control system. The control gains are obtained using the partial model matching method. ,. Sea test results are also shown.

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In this study ． we design the adaptive control system for multi − rotor helicopte エ Currently ， multi − rotor helicopter has been used not only f(》r researc h and development but also many practical tasks ． Howeve 馬 controller tuning of the mu 賦i− rotor helicopter is still depend on human operator ， and it is an obstacle for construction ef the market of the multi − rotor hehcopteL On such background ． Simple Adaptive Control 〔 SAC ) is applied to thc multi −rotor helicopter to τ ea 夏 ize auto −tロning system Firstly ， mathematical model of the helicopter is derived ， Next， adaptive Pn )controner with Parallel Feedf ( )rward Compensator( PFC )is desjgned based on derived mathematical model ． Finally ， numerical simulalion is ca π ied out to verify the effectiveness of propesed adaptive control system ． Key W6rds ； Mutti − rvtorhe ' ' cg ρ ' ε' 5伽 ρ ' ε 砒 ゆ f' レe contrvt ． ！ 亀 daptive PID contiV '