A small AUV "MR-X1" was developed in 2000 for detailed investigation of the seafloor and marine organisms at JAMSTEC (Japan Agency for Marine-Earth Science and Technology). In order to assure high maneuverability under low-speed cruising and good hovering performance, the motion of the vehicle is controlled by five thrusters. When the vehicle was built, PID control was implemented, but in order to improve control performance, renovation of the vehicle operating system has been ongoing since 2007, and a model based control (LQI control) is due to be adopted when this is complete.This paper summarizes the design method of the motion controller to cruise along an observation line in the current, and shows successful simulated results.
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