Controller Design based on Fractional Calculus for AUV Yaw Control

This research presents a fractional order integral controller strategy, which improves the steering angle for Autonomous Underwater Vehicles (AUVs). The AUV mathematical modeling is presented. A Fractional Order Proportional Integral (FOPI) control scheme implemented to ensure yaw stability of under system uncertainty. FOPI validated with MATLAB/Simulink and compared conventional Integer PI (IOPI) track structure. simulation results show that proposed outperforms IOPI overall transient response while ensuring system's without external disturbances such as underwater current different loading conditions.