Kalman-PD Control for Depth System of Autonomous Underwater Vehicle

Ming Yang Yu; Zhi Qiang Qiu; Hong Chen

doi:10.4028/www.scientific.net/AMM.530-531.990

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 530-531Kalman-PD Control for Depth System of Autonomous...

Kalman-PD Control for Depth System of Autonomous Underwater Vehicle

Abstract:

A Kalman-PD depth controller was designed for depth system of AUV, and the controller was simulated on MATLAB/ SIMULINK. Performance of the controller was observed with actuator saturation, random pitch sensor noise and random fin disturbances. At the same time, response of a conventional PID controller for depth closed loop was also given for comparison. Results show that the Kalman-PD controller gives well performance in dealing with the noisy and disordered depth control system of AUV.

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Periodical:

Applied Mechanics and Materials (Volumes 530-531)

Pages:

990-998

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.530-531.990

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Online since:

February 2014

Authors:

Ming Yang Yu, Zhi Qiang Qiu, Hong Chen

Keywords:

AUV, Depth Control, Kalman-PD, PID

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References

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