Design and Implementation of PD Controller for an AUV ‘ISiMI100’

Abstract

This paper presents design and implementation of PD controller for an autonomous underwater vehicle (AUV) called ISiMI100 which is developed by Maritime and Ocean Engineering Research Institute (MOERI). An AUV is a system that is too difficult to control. It has coupling between control input and output. And it is nonlinear, under-actuated system. In this research, we propose a revised PD controller for an AUV. This controller is different from typical PD controller. It is based on strong correlation between control input and a state of an AUV (system output) from dynamics of an AUV. Finally, we validate the algorithm by simulation and Ocean Engineering Basin experiment in KORDI.