Non-integer Controller for Autonomous Underwater Vehicle Steering Control
R Abdulkader - … Automation, Artificial-Intelligence and Internet-of …, 2021 - ieeexplore.ieee.org
2021 IEEE International Conference on Robotics, Automation …, 2021•ieeexplore.ieee.org
This paper presents a non-integer controller method founded from fractional calculus, which
enhances the steering for autonomous underwater vehicles (AUV). The AUV model is
presented. A fractional order proportional integral (FOPI) control technique is applied to
stabilize the system steering. Using MATLAB/Simulink the fractional order controller
simulation is validated and is compared to classical integer order PI controller for tracking
the yaw angle for the system. Simulation results indicates that the proposed fractional …
enhances the steering for autonomous underwater vehicles (AUV). The AUV model is
presented. A fractional order proportional integral (FOPI) control technique is applied to
stabilize the system steering. Using MATLAB/Simulink the fractional order controller
simulation is validated and is compared to classical integer order PI controller for tracking
the yaw angle for the system. Simulation results indicates that the proposed fractional …
This paper presents a non-integer controller method founded from fractional calculus, which enhances the steering for autonomous underwater vehicles (AUV). The AUV model is presented. A fractional order proportional integral (FOPI) control technique is applied to stabilize the system steering. Using MATLAB/Simulink the fractional order controller simulation is validated and is compared to classical integer order PI controller for tracking the yaw angle for the system. Simulation results indicates that the proposed fractional controller improves the system steering with/without external disturbances being present.
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