Underwater Vehicle Modeling and Control Application to Ciscrea Robot

Abstract

Underwater competitions confirm that the PID yaw controller is less efficient for low mass Autonomous Underwater Vehicle (AUV) to handle the robot uncertainties. Nonlinear hydrodynamic behavior, waves, current, AUV bouyance change, motor calibration variations, sensor disturbance and battery variations perturbate the PID control behavior a lot. Therefore, in this paper we present a model based robust controller to control the yaw heading of AUV CISCREA. The modeling result was verified with experiments, and the robust controller was simulated.