Comparative Analysis on Depth Control of an Underwater Vehicle

Autor:	M.P.R. Prasad, Awnish Kumar Tripathi, Ankit Srivastava
Rok vydání:	2019
Předmět:	Computer Science::Robotics Scheme (programming language) Underwater vehicle Control theory Computer science Control (management) PID controller Unmanned underwater vehicle Kinematics MATLAB computer computer.programming_language
Zdroj:	2019 Innovations in Power and Advanced Computing Technologies (i-PACT).
DOI:	10.1109/i-pact44901.2019.8959977
Popis:	In this paper a kinematic and dynamic model of underwater vehicle has been presented and the depth of the underwater vehicle has been controlled using two different schemes. In one scheme PD controller has been applied to the linearized model and LQR controller has been used in the second scheme. Simulation results are obtained using MATLAB/SIMULINK in both the schemes and the results of the two schemes have been analyzed in the conclusion.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::73d9246c519c6b05298e2fadfc5e3845 https://doi.org/10.1109/i-pact44901.2019.8959977 Zobrazit plný text záznamu