Motion control performance of AUV “YUMEIRUKA” with broken X rudder

The Japan Agency for Marine–Earth Science and Technology (JAMSTEC) has been developing “YUMEIRUKA”, an autonomous underwater vehicle (AUV) with a fore X-rudder and an aft X-rudder. The vehicle can change its submersion depth by controlling the pitch angle using the two-sets X-rudder system. It is said that the advantage of X-rudder is that the motion control performance at the time of trouble is excellent. In this paper, the motion control performance of “YUMEIRUKA” having broken X rudders is verified by simulations. LQI controller is adopted to control the motion of the vehicle in simulations.