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Position Control and Stabilization of Fully Actuated AUV using PID Controller

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Proceedings of SAI Intelligent Systems Conference (IntelliSys) 2016 (IntelliSys 2016)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 16))

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Abstract

This paper presents an inverse kinematic model for an Autonomous Underwater Vehicle (AUV) with 8 thrusters. The vehicle configuration allow the AUV to have a fully-actuated 6 Degrees of freedom (DOF). Rigid body dynamic model and water environment hydrodynamic model are used in this study. The model is implemented and tested using Matlab and Simulink. A 3D model of the AUV is designed for illustration in this work using Autodesk MAYA. Cascaded position and velocity control approach is studied. A conventional linear Proportional Integral Derivative (PID) controller is used for speed control and PD controller for the position control. Ocean current disturbances are introduced to test the system and control stability. Validation of the model is performed with tests for speed stabilization and position control with and without disturbances.

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Authors and Affiliations

  1. Electrical and Control Engineering, Arab Academy for Science, Technology and Maritime Transport, Alexandria, Egypt

    Mohanad M. Hammad, Ahmed K. Elshenawy & M. I. El Singaby

Authors
  1. Mohanad M. Hammad
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  2. Ahmed K. Elshenawy
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  3. M. I. El Singaby
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Corresponding author

Correspondence to Mohanad M. Hammad .

Editor information

Editors and Affiliations

  1. Faculty of Computing and Engineering, School of Computing and Mathematics, University of Ulster at Jordanstown, Newtownabbey, United Kingdom

    Yaxin Bi

  2. The Science and Information (SAI) Organization, Bradford, West Yorkshire, United Kingdom

    Supriya Kapoor

  3. The Science and Information (SAI) Organization, Bradford, West Yorkshire, United Kingdom

    Rahul Bhatia

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Hammad, M.M., Elshenawy, A.K., El Singaby, M.I. (2018). Position Control and Stabilization of Fully Actuated AUV using PID Controller. In: Bi, Y., Kapoor, S., Bhatia, R. (eds) Proceedings of SAI Intelligent Systems Conference (IntelliSys) 2016. IntelliSys 2016. Lecture Notes in Networks and Systems, vol 16. Springer, Cham. https://doi.org/10.1007/978-3-319-56991-8_39

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  • DOI: https://doi.org/10.1007/978-3-319-56991-8_39

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-56990-1

  • Online ISBN: 978-3-319-56991-8

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