Position Control System of Autonomous Underwater Vehicle using PID Controller

Abstract

Water covers most of the earth's surface compared to the land, including Indonesia. Such an area can be explored using an underwater robot, which is implemented in an autonomous underwater vehicle (AUV). The AUV control system requires a controller to be able to move properly. Thus, a PID controller that has a simple structure and yields great performance can be implemented in the AUV. This study was conducted to control the movement of the surge, heave, and yaw of the AUV using the PID. The AUV modeling simulations were carried out using Simulink to determine the PID gain values. The simulation results for surge movement were Kp = 38.41, Ki = 10.8 and Kd = 58.4, heave movement were Kp = 49.13, Ki =2.56 and Kd= 107.12 and yaw movement were Kp = 3.18, Ki = 0.18 and Kd = 12.11. The results showed that AUV could perform well and maintain the position determined by the set point for 3–4 seconds.