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Design of Diving System Controller for an Autonomous Underwater Vehicle

Publication Type : Conference Proceedings

Publisher : IEEE

Source : IEEE First International Conference on Smart Technologies for Power, Energy and Control (STPEC)

Url : https://ieeexplore.ieee.org/abstract/document/9297779

Campus : Amaravati

School : School of Computing

Year : 2020

Abstract : A diving system control problem for an autonomous underwater vehicle (AUV) is considered. Linearized decoupled model is used to represent the kinetics/dynamics of the system for diving control. A single sensor is used to estimate the unmeasured state through diving system control structure. Two controller design schemes are defined and used for steady-state tracking and noise reduction. A proportional derivative (PD) controller and pole placement with estimator approach are adopted to synthesize the control law. The selection of the desired closed-loop pole and initial condition are discussed. Performance of the controller based on the desired specification and steady-state tracking is examined using simulation and its results are discussed.

Cite this Research Publication : R. P. Desai and N. S. Manjarekar, Design of Diving System Controller for an Autonomous Underwater Vehicle,2020 IEEE First International Conference on Smart Technologies for Power, Energy and Control (STPEC), Nagpur, India, 2020.

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