An improved time delay controller for underwater robot

Time delay controller is viewed as an effective robust controller for nonlinear system, especially for the system with heavy model uncertain. Under time delay controller, the nonlinear dynamic is almost canceled. However, for some nonlinear systems the controllers do not good performance. So, we proposed an improved time delay controller for underwater robot from an implement point of view. Compared with the original time delay controller simulation, the improved one simulation results show that the proposed controller is effective and has a better performance. Then we combine the improved controller with a PI controller for our underwater robot. The numerical simulation results show that the proposed method is effective.