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A Self-tuning Nonlinear PID Controller for a Three-Thruster Remotely Operated Underwater Vehicle

conference contribution
posted on 2023-05-23, 08:09 authored by Le, KD, Hung NguyenHung Nguyen, Susantha RanmuthugalaSusantha Ranmuthugala
Remotely Operated Vehicles (ROV) are widely utilized within the maritime industry, including oil and gas exploration, security, and in environmental protection duties. However, designing proper controller systems for ROVs is not an easy task due to the nonlinear dynamic effects and environmental disturbances. This paper describes the development of a self-tuning nonlinear PID controller for an observation class ROV consisting of three thrusters. The proposed algorithm differs from conventional PID control systems, and mimics the principle of neural cells whose parameters have the ability to adapt to the uncertainty of the controlled system. To verify the effectiveness of the nonlinear PID control algorithm, a mathematical model of the ROV incorporating hydrodynamic coefficients obtained through Computational Fluid Dynamics (CFD), is used to compare the performance of a conventional PID controller to that of the proposed nonlinear PID controller.

History

Publication title

Proceedings of the Second Vietnam Conference on Control and Automation

Editors

Cat, PT

Pagination

1-8

Department/School

Australian Maritime College

Publisher

University of Da Nang

Place of publication

Da Nang, Vietnam

Event title

The Second Vietnam Conference on Control and Automation

Event Venue

Da Nang, Vietnam

Date of Event (Start Date)

2013-11-22

Date of Event (End Date)

2013-11-23

Rights statement

Copyright 2013 The Author

Repository Status

  • Restricted

Socio-economic Objectives

Intelligence, surveillance and space

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