Fractional Order Internal Mode Control Proportional Integral Derivative (FOIMCPID) Controller Fed Design for Depth Control of Autonomous Underwater Vehicle
| International Journal of Electrical and Electronics Engineering |
| © 2023 by SSRG - IJEEE Journal |
| Volume 10 Issue 11 |
| Year of Publication : 2023 |
| Authors : Linkan Priyadarsini, Shubhasri Kundu, Manoj Kumar Maharana |
10.14445/23488379/IJEEE-V10I11P107
How to Cite?
Linkan Priyadarsini, Shubhasri Kundu, Manoj Kumar Maharana, "Fractional Order Internal Mode Control Proportional Integral Derivative (FOIMCPID) Controller Fed Design for Depth Control of Autonomous Underwater Vehicle," SSRG International Journal of Electrical and Electronics Engineering, vol. 10, no. 11, pp. 68-75, 2023. Crossref, https://doi.org/10.14445/23488379/IJEEE-V10I11P107
Abstract:
Autonomous Underwater Vehicles (AUVs) can replace humans in dangerous situations and have many applications due to their endurance, stealthiness, intelligence, and versatility. Many studies have focused on developing better motion control systems for AUVs so that the vehicles can remain steady despite the waves. The present research focuses on developing a controller for regulating the depth of an Autonomous Underwater Vehicle (AUV). The proposed controller uses the Fractional Order-based Internal Mode Control Proportional Integral Derivative (FOIMCPID) technique. In this research, we suggest implementing a Fractional-Order Proportional Integer Derivative (FOPID) controller into an AUV motion control system. It improves the standard PID controller by boosting the value of two tuning parameters. This study uses Internal Model Control (IMC) to tune the Fractional Order Controllers class. This tuning rule was developed without using any time delay approximations. A similar-tuned industrial PID controller and FOPID are compared to demonstrate the value of fractional order controllers compared to traditional integer order controllers. After that, the robust stability of both controllers is examined in controlling the heading angle of Autonomous Underwater Vehicles (AUVs).
Keywords:
AUV, FOPID, IMC, FOIMCPID, Controller, Fractional Order.
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