Design of Motion Control Using Proportional Integral Derivative for UNUSAITS AUV

摘要

Robotics technology for the defense of a country today is a necessity. One of such defense technologies is an unmanned underwater vehicle or Autonomous Underwater Vehicle (AUV). It is a type of underwater robots operated for underwater exploration or underwater defense system equipment. AUV is controlled and able to move with six degrees of freedom (6-DOF). To control AUV requires a motion control system to move as expected. In this research, the motion control system was developed by applying a linear 6-DOF model to UNUSAITS AUV, resulted from linearization of the nonlinear model with 6-DOF, that is, surge, sway, heave, roll, pitch and yaw with Proportional Integral Derivative (PID) method. Specifically, this study is a make comparison the simulation between result of PID method and those of Proportional control system without integral and derivative was made. The contribution of this paper is numeric study regarding the performance of PID compared to proportional applied to AUV linear model. The simulation results show that the PID method could be used as the motion control system of the linear model 6-DOF with an error of 0.4 % - 13% and globally asymthotically stable with analysis of stability using Lyapunov method, whereas the proportional controller still had a considerably significant error.