Control System for Simplified Nonlinear Dynamic Model of 6 DOF Hybrid Underwater Glider using PID Controller with Anti-Windup

被引：3

作者：

Priandiri, Vidya Putri ^{[1
]}

Marham, Qurrata Choir ^{[1
]}

Trilaksono, Bambang Riyanto ^{[1
]}

Hidayat, Egi Muhammad Idris ^{[1
]}

机构：

[1] Inst Teknol Bandung, Sch Elect Engn & Informat, Ganeca 10, Bandung 40135, West Java, Indonesia

来源：

2019 IEEE 9TH INTERNATIONAL CONFERENCE ON SYSTEM ENGINEERING AND TECHNOLOGY (ICSET) | 2019年

关键词：

Anti-Windup; Control System; Dynamic Modelling; Hybrid Underwater Glider; PID Controller;

D O I：

10.1109/icsengt.2019.8906440

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：50 / 55

页数：6

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