Open AccessDevelopment of Two Control Strategies for Tracking the Trajectory of An Unmanned Underwater Structure Inspection Vehicle
Author(s) -
Yorley Dayana Caro Riaño,
Sebastián Roa Prada
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2224/1/012097
Subject(s) - control theory (sociology) , pid controller , controller (irrigation) , underwater , trajectory , remotely operated underwater vehicle , control engineering , inner loop , engineering , computer science , control (management) , robot , artificial intelligence , mobile robot , physics , temperature control , agronomy , oceanography , astronomy , biology , geology
This paper presents the development of two dual-loop control strategies for an underwater Remotely Operated Vehicle, ROV. The first strategy consists of two PID controllers while the second one features a LQG controller in the inner loop, and a PID controller in the outer loop. The transient response of the two strategies is compared when an anti-windup gain is applied and when there is no anti-windup gain, and a way to tune this gain in the case of statespace controllers is proposed. For further comparison, the strategies are simulated for a variable set point, for the three variables to be controlled, x, z, yaw , so that both their tracking and the effect of coupling can be seen. In conclusion, the use of anti-windup gain is recommended for control systems that reach saturation, so that they can react quickly when they are in an operating zone, and the use of a random matrix for the calculation of this gain in state-space controllers is suggested.