Abstract
In practice, a PID controller has been used most commonly to control underwater vehicles. However, PID controllers suffer significant loss of performance due to integral windup when used in the system with actuator saturation. In this paper, we propose a dual-loop VSPID controller with anti-windup to reduce the integral-windup effect. We tested the proposed method using an real autonomous underwater vehicle and confirmed that the method successfully decreased the integral-windup effect.
Original language | English |
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State | Published - 2013 |
Event | OCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common - San Diego, CA, United States Duration: 23 Sep 2013 → 26 Sep 2013 |
Conference
Conference | OCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common |
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Country/Territory | United States |
City | San Diego, CA |
Period | 23/09/13 → 26/09/13 |
Keywords
- Controller structure
- Cyclops
- Dual-loop