Title :
Integer & fractional order PID Controller for fractional order subsystems of AUV
Author :
Joshi, S.D. ; Talange, D.B.
Author_Institution :
Dept. of Electr. Eng., Coll. of Eng., Pune, India
Abstract :
Control and modeling of nonlinear systems like Autonomous Underwater Vehicle (AUV) is a challenge for researchers. Here the modeling and controller scheme designed is based on fractional order system. In this article Fractional order proportional integral derivative (FOPID) controller is designed and applied to fractional order depth and steering systems of AUV and it is compared with classical integer order PID Controller.
Keywords :
autonomous underwater vehicles; control system synthesis; nonlinear control systems; steering systems; three-term control; AUV; FOPID controller; autonomous underwater vehicle; control design; fractional order PID controller; fractional order depth; fractional order proportional integral derivative controller; fractional order subsystems; integer PID controller; nonlinear systems control; nonlinear systems modeling; steering systems; Control systems; Dynamics; Equations; Mathematical model; Steering systems; Vehicle dynamics; Vehicles; AUV; FOPID; IOPID; fractional order; modeling;
Conference_Titel :
Industrial Electronics and Applications (ISIEA), 2013 IEEE Symposium on
Conference_Location :
Kuching
Print_ISBN :
978-1-4799-1124-0
DOI :
10.1109/ISIEA.2013.6738961
