Oscillation Reduction Control for Ocean Environment Monitoring Buoys

This study deals with oscillation reduction control based on an observer-based switching control system for ocean environment monitoring buoys, where the key idea is to switch different regulators according to the oscillation energy of the buoy to cope with saturation of the actuator torque. We have performed oscillation reduction experiments by using an experimental buoy assuming one-axis rolling control, which is equipped with an oscillation reduction actuator and a gyro sensor. Consequently, the experimental results have shown that oscillation of the buoy can be successfully reduced by the proposed control method and hence have clarified its effectiveness and feasibility.