Decoupled Controller Design of Small Autonomous Underwater Vehicle and Performance Test using HILS

摘要

In this paper, decoupled controller design for Autonomous Underwater Vehicle(AUV) and its simulated performance test Results: and Hardware In the Loop Simulation(HILS) Results: are presented. Control system design is done using the PD control scheme. Stability analysis and step response of closed loop system under uncertain parameter condition are also presented. The Results: of full coupled nonlinear model simulation show the well applicability of the designed controller. From the Results: of HILS, we can verify performance of real time processing and implemented hardware for AUV.