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Controller Design for Steering and Diving Model of an AUV

Publication Type : Book Chapter

Publisher : Springer

Source : Lecture Notes in Electrical Engineering

Url : https://link.springer.com/chapter/10.1007/978-981-16-8546-0_21

Campus : Amaravati

School : School of Computing

Year : 2022

Abstract : A linearised decoupled steering/yaw and diving/depth subsystem of an autonomous underwater vehicle (AUV) are taken in this paper. Two linear control schemes are proposed to achieve the steady-state tracking and disturbance rejection for steering subsystem and diving subsystem. The proposed control schemes are compared in the presence of time-variant (TV) and time-invariant (TIV) type disturbance for set-point tracking and sinusoidal reference tracking, respectively. The effectiveness and efficacy of proposed control performance are presented through a simulation result.

Cite this Research Publication : Desai R.P., Manjarekar N.S, Controller Design for Steering and Diving Model of an AUV, In: Sanyal, G., Travieso-González, C.M., Awasthi, S., Pinto, C.M., Purushothama, B.R. (eds) International Conference on Artificial Intelligence and Sustainable Engineering. Lecture Notes in Electrical Engineering, Springer,2022.

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