A PID controller for the underwater robot station-keeping

Abstract

In this paper, a PID controller for the underwater robot station-keeping has presented. The underwater robots are very important for the underwater surveillance. The objective of this study is to describe the development of a depth control for underwater robot. For the posture control of the underwater robot, we employ embedded system to design and develop the prototype of the thruster control system. The hardware architecture of the underwater robot is composed the ground PC, DC power supply, embedded system, sensor system, and propeller system. The experiment results demonstrate the proposed control system performance.