Title :
Control of autonomous underwater vehicle using fractional order PIλ controller
Author :
Talange, D.B. ; Joshi, S.D. ; Gaikwad, Sameer
Author_Institution :
Fac. of the Dept. of Electr. Eng., Coll. of Eng., Pune, India
Abstract :
Autonomous underwater vehicle (AUV) system is complex and highly nonlinear, the controller design for AUV is always a crucial task. Improving the performance of AUV in such applications as seafloor mapping, oil and gas exploration and defense requires improving the vehicle´s maneuvering precision. These goals can be achieved through the improvement of the vehicle control system. This paper presents the control of AUV´s speed, depth and steering. Fractional order PIλ controller is designed and it is compared with classical integer order PI controller.
Keywords :
PI control; autonomous underwater vehicles; control system synthesis; motion control; steering systems; velocity control; AUV depth; AUV speed; AUV steering; autonomous underwater vehicle control; controller design; fractional order PIλ controller; gas exploration; integer order PI controller; maneuvering precision; oil exploration; seafloor mapping; Calculus; Control systems; Equations; Mathematical model; Vectors; Vehicle dynamics; Vehicles; Autonomous underwater vehicle (AUV); Fractional order PIλ controller (FOPI); Fractional-Order Modeling and Control (FOMCON);
Conference_Titel :
Control Applications (CCA), 2013 IEEE International Conference on
Conference_Location :
Hyderabad
DOI :
10.1109/CCA.2013.6662900
