- Volume 30 Issue 3
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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
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