Variable-structure PID controller with anti-windup for autonomous underwater vehicle

In practice, a PID controller has been used most commonly to control underwater vehicles. However, PID controllers suffer significant loss of performance due to integral windup when used in the system with actuator saturation. In this paper, we propose a dual-loop VSPID controller with anti-windup to reduce the integral-windup effect. We tested the proposed method using an real autonomous underwater vehicle and confirmed that the method successfully decreased the integral-windup effect.