Implementation of Hovering AUV and Its Attitude Control Using PID Controller

PID 제어기를 이용한 호버링 AUV의 구현과 자세 제어

  • Received : 2016.03.25
  • Accepted : 2016.06.24
  • Published : 2016.06.30


An attitude controller for a 6-DOF hovering autonomous underwater vehicle (HAUV) is implemented. We add a vertical thruster, an underwater camera, a wireless communication device, and a DVL to the HAUV that was developed a year ago. The HAUV is composed of 5 thrusters, 2 servo-motors, and 4 apparatus parts. Two rotating thrusters control the surge, heave, and roll of the vehicle. The vertical thruster controls the pitch, and two horizontal thrusters control the sway and yaw of the vehicle. The HAUV’s movement in each direction is controlled by 6 PID controllers. Each PID controller controls the propulsive force and angle of a thruster. In a horizontal and vertical movement experiment, we showed the feasibility of the proposed controller by maintaining a given depth and heading angle of the HAUV.


HAUV;PID controller PID;attitude control


  1. Bae, S.B., Shin, D.H., Joo, M.G., 2014. A Depth Control of Hovering AUV Using PD Controller. Journal of KIIT, 12(6), 1-7.
  2. Jeong, S.K., Choi, H.S., Seo, J.M., Huy, T.N., Kim, J.Y., 2013. Design and Control of 6 D.O.F(Degrees of Freedom) Hovering AUV. Journal of Institute of Control, Robotics and Systems, 19(9), 797-804.
  3. Jun, B.H., Lee, P.M., Kim, Y.K., 2009. Trends in the CruisingType AUVs Technologies. Journal of the Korean Society for Precision Engineering, 26(5), 14-22.
  4. Kwon, S.T., Shin, D.H., Joo, M.G., 2012. Way-Point Tracking of AUV using Sliding Mode Controller. Journal of Korea Institute of Information Technology, 10(10), 17-22.
  5. Lee, J.W., Park, J.W, Suh, J.H., Choi, Y.H., 2015a. Redundant Architectural Design of Hydraulic Control System for Reliability Improvement of Underwater Construction Robot. Journal of Ocean Engineering and Technology, 29(5), 380-385.
  6. Lee, P.H., Park, S.K., Kwon, S.T., Park, S.W., Jung, H.S., Park, M.S., Lee, P.M., 2015b. Dynamic Modeling of Autonomous Underwater Vehicle for Underwater Surveillance and Parameter Tuning with Experiments. Journal of Ocean Engineering and Technology, 29(6), 488-498.
  7. Shin, D.H., Bae, S.B., Baek, W.K., Joo, M.G., 2013. Way-Point Tracking of AUV using Fuzzy PD Controller. Journal of Korea Institute of Information Technology, 11(5), 1-7.