Comparison of a PID controller versus a LQG controller for an autonomous underwater vehicle

Ignacio Carlucho, Bruno Menna, Mariano De Paula, Gerardo G. Acosta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

Currently autonomous underwater vehicles (AUVs) are facing an increase in their applications in the offshore industry, allowing maximum utilization of the maritime resources. Therefore, the development of autonomous control systems is imperious, for fast decision making in unknown situations or environments. In order to achieve this, is necessary to solve the control and navigation problem efficiently. In this article two control techniques, previously used in AUVs, are compared, in order to apply one of them in the submarine ICTIOBOT, a development platform designed by the research group INTELYMEC of the Faculty of Engineering of the UNICEN. Firstly two controllers are designed, a PID with a Kalman filter for state estimation, and a LQG controller. An evaluation of the performance is done in simulation, with regards to different operation conditions. The results show that the LQG strategy has a better performance that the PID although the latter is computationally more tractable.
Original languageEnglish
Title of host publication2016 3rd IEEE/OES South American International Symposium on Oceanic Engineering (SAISOE)
PublisherIEEE
Number of pages6
ISBN (Electronic)978-1-5386-1826-4
ISBN (Print)978-1-5386-1827-1
DOIs
Publication statusPublished - 11 May 2017
Event2016 3rd IEEE/OES South American International Symposium on Oceanic Engineering (SAISOE) - Buenos Aires, Argentina
Duration: 15 Jun 201617 Jun 2016
Conference number: 3

Conference

Conference2016 3rd IEEE/OES South American International Symposium on Oceanic Engineering (SAISOE)
Abbreviated titleSAISOE 2016
Country/TerritoryArgentina
CityBuenos Aires
Period15/06/1617/06/16

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