ISSN (print) 0914-4935
ISSN (online) 2435-0869
Sensors and Materials
is an international peer-reviewed open access journal to provide a forum for researchers working in multidisciplinary fields of sensing technology.
Sensors and Materials
is covered by Science Citation Index Expanded (Clarivate Analytics), Scopus (Elsevier), and other databases.

Instructions to authors
English    日本語

Instructions for manuscript preparation
English    日本語


 Sensors and Materials
 1-23-3-303 Sendagi,
 Bunkyo-ku, Tokyo 113-0022, Japan
 Tel: 81-3-3827-8549
 Fax: 81-3-3827-8547

MYU Research, a scientific publisher, seeks a native English-speaking proofreader with a scientific background. B.Sc. or higher degree is desirable. In-office position; work hours negotiable. Call 03-3827-8549 for further information.

MYU Research

(proofreading and recording)

(translation service)

The Art of Writing Scientific Papers

(How to write scientific papers)
(Japanese Only)

Sensors and Materials, Volume 31, Number 12(3) (2019)
Copyright(C) MYU K.K.
pp. 4231-4245
S&M2081 Research Paper of Special Issue
Published: December 26, 2019

Control of μ-Autonomous Surface Vehicle Using Sliding Mode Control [PDF]

Yamato Kawamura, Junichiro Tahara, Tetsu Kato, Shoichiro Baba, and Masakazu Koike

(Received September 30, 2019; Accepted November 5, 2019)

Keywords: sliding mode control, autonomous surface vehicle, system identification, robot operating system

An autonomous surface vehicle (ASV) is a small autonomous boat that is expected to be used for automated investigations in radiation-contaminated areas or for unattended fishing, which will help the fishing industry, whose workforce is significantly decreasing. However, the discussion on the modeling and control of an ASV has mainly been based on those of a conventional ship. We have developed a micro-ASV (μ-ASV) on the basis of the concept that an ASV is a mobile robot. The translational motion of the μ-ASV is controlled by main thrusters, but its rotation is controlled by a bow thruster, not by a rudder as in an ordinary ship. Using the robot operating system (ROS), we demonstrated that the models of translational and rotational motions can be easily identified by adopting a distributed design using sliding mode control, in which the motion of the μ-ASV is controlled by main and bow thrusters. We also demonstrated that the translational and angular motions can be controlled by a simple dynamic positioning system (DPS). These findings allowed us to make the equations of motion and the control design of the μ-ASV simpler than those of an ordinary ship. A manual operation test using a joystick was conducted in the open sea. Promising results were achieved and are presented in this paper.

Corresponding author: Junichiro Tahara

Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.

Cite this article
Yamato Kawamura, Junichiro Tahara, Tetsu Kato, Shoichiro Baba, and Masakazu Koike, Control of μ-Autonomous Surface Vehicle Using Sliding Mode Control, Sens. Mater., Vol. 31, No. 12, 2019, p. 4231-4245.

Forthcoming Regular Issues

Forthcoming Special Issues

Special Issue on Advanced Materials on Electronic and Mechanical Devices and their Application on Sensors (5)
Guest editor, Teen-Hang Meen (National Formosa University), Wenbing Zhao (Cleveland State University), and Cheng-Fu Yang (National University of Kaohsiung)

Special Issue on Advances in Shape Memory Materials
Guest editor, Ryosuke Matsui (Aichi Institute of Technology) and Hiroyuki Miki (Tohoku University)

Special Issue on Perceptual Deep Learning in Computer Vision and its Application
Guest editor, Chih-Hsien Hsia (National Ilan University)

Special Issue on Materials, Devices, Circuits, and Analytical Methods for Various Sensors (3)
Guest editor, Chien-Jung Huang (National University of Kaohsiung), Cheng-Hsing Hsu (National United University), Ja-Hao Chen (Feng Chia University), and Wei-Ling Hsu (Huaiyin Normal University)
Conference website

Special Issue on Sensing Technologies and Their Applications (1)
Guest editor, Rey-Chue Hwang (I-Shou University)
Call for paper

Special Issue on New Trends in Smart Sensor Systems
Guest editor, Takahiro Hayashi (Kansai University)
Call for paper

Copyright(C) MYU K.K. All Rights Reserved.