Design of Unmanned Underwater Vehicle (UUV) For Precision Targeting Using Simple PID-Controler

摘要

A model of an Unmanned Underwater Vehicle (UUV) for precision targeting using simple PID controller has been designed. The system has been assumed to have two-dimensional character, such that the mechanical control mechanism would be performed solely by rudder. A GPS/IMU system was employed in the model to provide the exact location and current trajectory direction and will be used to compared between the instantaneous correct direction and instantaneous current direction. This difference would drive PID control system to give correct angle deflection of the rudder. Some parameters of the PID controller has to be well-tuned employing several schemes including the Routh-Hurwitz stability criterion. Keywords: UUV, PID Controller, Precision Targeting, GPS, IMU