A simplified approach to tune PD controller for the depth control of an autonomous underwater vehicle
نویسندگان
چکیده
The paper presents a simple method of tuning a PD controller for controlling the depth of an autonomous underwater vehicle. The non-linear dynamics of the depth of the vehicle are linearised and approximated as an integrating process with deadtime. The PD controller tuning is then done using gain margin specifications. Keywords—Autonomous Underwater Vehicle, Dead-time, integrating process, PD controller, tuning.
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