Integer & fractional order PID Controller for fractional order subsystems of AUV

Author

Joshi, S.D. ; Talange, D.B.

Author_Institution

Dept. of Electr. Eng., Coll. of Eng., Pune, India

fYear

2013

fDate

22-25 Sept. 2013

Firstpage

21

Lastpage

26

Abstract

Control and modeling of nonlinear systems like Autonomous Underwater Vehicle (AUV) is a challenge for researchers. Here the modeling and controller scheme designed is based on fractional order system. In this article Fractional order proportional integral derivative (FOPID) controller is designed and applied to fractional order depth and steering systems of AUV and it is compared with classical integer order PID Controller.

Keywords

autonomous underwater vehicles; control system synthesis; nonlinear control systems; steering systems; three-term control; AUV; FOPID controller; autonomous underwater vehicle; control design; fractional order PID controller; fractional order depth; fractional order proportional integral derivative controller; fractional order subsystems; integer PID controller; nonlinear systems control; nonlinear systems modeling; steering systems; Control systems; Dynamics; Equations; Mathematical model; Steering systems; Vehicle dynamics; Vehicles; AUV; FOPID; IOPID; fractional order; modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications (ISIEA), 2013 IEEE Symposium on

Conference_Location

Kuching

Print_ISBN

978-1-4799-1124-0

Type

conf

DOI

10.1109/ISIEA.2013.6738961

Filename

6738961