Control system for simplified nonlinear dynamic model of 6 DOF hybrid underwater glider using PID controller with anti-windup
Priandiri V.P.a, Marham Q.C.a, Trilaksono B.R.a, Hidayat E.M.I.a
a Institut Teknologi Bandung Ganeca 10, School of Electrical Engineering and Informatics, Bandung, 40135, Indonesia
Abstract
© 2019 IEEE.Hybrid Underwater Glider (HUG) is an underwater vehicle that combines between Autonomous Underwater Vehicle (AUV) and Autonomous Underwater Glider (AUG). The dynamic model of HUG is commonly high nonlinear hence the control of this vehicle become complex. This paper proposes control system for HUG using PID controller with anti-windup as the approach to the nonlinear system by simplifying the dynamic model of HUG first. This research will compare the control system that implemented to whether simplified model or non-simplified model. The results show that the PID controller with anti-windup as the approaching to control the nonlinear model works well though.
Author keywords
Anti-windup,Autonomous underwater gliders,Autonomous underwater vehicles (AUV),High nonlinear,Non-linear model,PID controllers,Underwater gliders,Underwater vehicles
Indexed keywords
Anti-Windup,Control System,Dynamic Modelling,Hybrid Underwater Glider,PID Controller