Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Reexamination Certificate
2005-02-25
2008-03-04
Masih, Karen (Department: 2837)
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
C318S568210, C318S568220, C318S569000, C318S582000, C318S588000, C318S589000, C901S030000
Reexamination Certificate
active
07339339
ABSTRACT:
An object of the invention is to provide a floating mobile object control system capable of causing a floating mobile object to stand still in a predetermined position with high precision or track a target trajectory with high precision, even under disturbances caused by waves, tidal current, etc.A floating mobile object control system of the present invention capable of achieving the above object is a control system1for a floating mobile object10, in which the floating mobile object includes: a main body part B that can be considered as a single rigid body constituting a part of the floating mobile object; an effector part E for generating a thrust for the floating mobile object; and a thrust transfer gate G for dynamically connecting the main body part and the effector part, the thrust transfer gate being adapted to be able to actually measure a thrust from the effector part acting on the main body part, and a measured value for the thrust from the thrust transfer gate G is used to obtain a thrust command to the effector part E (FIG. 4).
REFERENCES:
patent: 6169981 (2001-01-01), Werbos
patent: 10-035587 (1998-02-01), None
patent: 2000-084016 (2000-03-01), None
patent: 2000-203491 (2000-07-01), None
patent: 2004-098866 (2004-04-01), None
[Non-Patent Document 1] Kanaoka, Nakayama, Hayashi and Kawamura, “Thrust Local Feed-Back Control for Realization of High Speed and Precise Motion in Water”, proceedings of the Robotics and Mechatronics Conference '03, the Japan Society of Mechanical Engineers, 2P1-2F-A6, 2003.
Jordan and Hamburg LLP
Masih Karen
The Ritsumeikan Trust
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