Design of the PID Posture Controller for 6-DOF Underwater Robot

摘要

Non-linearity, time-variance, uncertainty, hydrodynamic effect are concerned in order to design the superior autonomous control system in order to make the robot perform very accurately motion especially in the design of a controller for an autonomous underwater robot. The robot dynamics has to be carefully derived by using Newtonian method. The control system can be done manually by human expert when the robot is operated in simple specific environment but in real-life situation, the robot cannot be able to be controlled manually. Robust Control system, Proportional-Integral- Derivative with Sliding Surface, has been selected as a posture and stabilizer control system. In this research, the 6 degrees of freedom underwater robot is designed, modeled and simulated in order to obtain robot behavior when it operates in the water.