Open AccessRobust P I λ controller design for AUV motion control with guaranteed frequency and time domain behaviour
Author(s) -
Liu L.,
Zhang L.,
Zhang S.
Publication year - 2021
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/cth2.12044
Subject(s) - control theory (sociology) , robustness (evolution) , frequency domain , motion control , time domain , controller (irrigation) , robust control , underwater , pid controller , computer science , control engineering , control system , engineering , control (management) , robot , artificial intelligence , temperature control , biochemistry , chemistry , oceanography , electrical engineering , biology , geology , agronomy , computer vision , gene
Autonomous underwater vehicles require a motion control system for performing underwater tasks such as exploring and developing marine resources. This study proposes a fractional‐order proportional‐integral ( P I λ ) controller for autonomous underwater vehicles motion control that simultaneously guarantees frequency and time domain behaviour. First, a stabilisation process is presented for the controlled system, and a three‐dimensional stable surface is obtained. Subsequently, the controller parameters can be tuned. Then, to guarantee frequency and time domain control performance simultaneously, the frequency domain behaviour is studied through a modified flat phase property, and the time domain behaviour is improved through parameter optimisation. The set‐point regulation and noise suppression performances of the autonomous underwater vehicles motion control system indicate that the proposed P I λcontroller provides more flexibility in improving the system's robustness and transient performance.