Controller Design based on Fractional Calculus for AUV Yaw Control
Received: 16 January 2023 | Revised: 8 February 2023 and 12 February 2023 | Accepted: 15 February 2023 | Online: 2 April 2023
Corresponding author: Rasheed Abdulkader
Abstract
This research presents a fractional order integral controller strategy, which improves the steering angle for Autonomous Underwater Vehicles (AUVs). The AUV mathematical modeling is presented. A Fractional Order Proportional Integral (FOPI) control scheme is implemented to ensure the yaw angle stability of the AUV steering under system uncertainty. The FOPI controller is validated with MATLAB/Simulink and is compared to the conventional Integer Order PI (IOPI) controller to track the yaw angle of the structure. The simulation results show that the proposed FOPI controller outperforms the IOPI controller and improves the AUV system steering and the overall transient response while ensuring the system's stability with and without external disturbances such as underwater current and different loading conditions.
Keywords:
Autonomous Underwater Vehicle (AUV), Nelder Mean Simplex (NMS), fractional calculus, FOPIDownloads
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