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


Le, KD and Nguyen, HD and Ranmuthugala, SD, A Self-tuning Nonlinear PID Controller for a Three-Thruster Remotely Operated Underwater Vehicle, Proceedings of the Second Vietnam Conference on Control and Automation, 22 - 23 November 2013, Da Nang, Vietnam, pp. 1-8. (2013) [Refereed Conference Paper]

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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.

Item Details

Item Type:Refereed Conference Paper
Keywords:Underwater vehicle, self-tuning nonlinear PID, neural network
Research Division:Information and Computing Sciences
Research Group:Artificial intelligence
Research Field:Intelligent robotics
Objective Division:Defence
Objective Group:Defence
Objective Field:Intelligence, surveillance and space
UTAS Author:Le, KD (Mr Khoa Le)
UTAS Author:Nguyen, HD (Dr Hung Nguyen)
UTAS Author:Ranmuthugala, SD (Professor Dev Ranmuthugala)
ID Code:88184
Year Published:2013
Deposited By:NC Ports and Shipping
Deposited On:2014-01-16
Last Modified:2018-03-28
Downloads:10 View Download Statistics

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