Motion Control Design of UNUSAITS AUV Using Sliding PID

Herlambang, Teguh and Subchan, . and Nurhadi, Hendro and Adzkiya, Dieky (2020) Motion Control Design of UNUSAITS AUV Using Sliding PID. Nonlinear Dynamics and Systems Theory: An International Journal of Research and Surveys, 20 (1). pp. 51-60. ISSN 1813-7385

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An unmanned submarine commonly called an Autonomous Underwater Vehicle (AUV) is one type of underwater robots used for underwater mapping. The AUV is an underwater vehicle capable of automatically moving in the water, controlled by humans on a vessel. Building an AUV is not easy as many components play important roles in the operation of the AUV. One of them is the motion control system. This paper develops the motion control system of the UNUSAITS AUV by applying a Sliding PID (SPID) control to a linear model with 6-DOF. The linear model is obtained through linearization of the nonlinear model with 6-DOF. The SPID is a combination of the Sliding Mode Control (SMC) and PID. The results of the study indicate that the SPID method can be e�ectively used as the motion control system of the linear model with an error of 0.2% - 4.2%.

Item Type: Article
Uncontrolled Keywords: autonomous underwater vehicle; control systems; sliding PID; 6-DOF; linear model
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Technique > Program Study of Information Systems
Depositing User: Mr. . Aji
Date Deposited: 30 Jun 2022 05:43
Last Modified: 30 Jun 2022 05:43

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