Variable-structure PID controller with anti-windup for autonomous underwater vehicle

Minsung Kim, Hangil Joe, Juhyun Pyo, Jongkyoo Kim, Hyosin Kim, Son Cheol Yu

Research output: Contribution to conferencePaperpeer-review

20 Scopus citations

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 languageEnglish
StatePublished - 2013
EventOCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common - San Diego, CA, United States
Duration: 23 Sep 201326 Sep 2013

Conference

ConferenceOCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common
Country/TerritoryUnited States
CitySan Diego, CA
Period23/09/1326/09/13

Keywords

  • Controller structure
  • Cyclops
  • Dual-loop

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