D-CDM Based Robust Control System for AUV with VBS

Abstract

The Coefficient Diagram Method (CDM) is the one of the most efficient control design methods that is stable and robust, system responses without overshoot and has very small settling time. The CDM is algebraic in nature and resolve the classical control problem after selecting a few meaningful design parameters and by automatically determining a target characteristic polynomial for the closed loop system. This paper reports a preliminary investigation on application of the Digitalized Coefficient Diagram method (D-CDM) to develop a computer model for the 'closed-loop' control of attitude and depth (with execution of pre-programmed mission in submergence) of the AUV/AUG with VBS. The initial results are very satisfactory and promise the development of the new design methods for robust control system of AUVs/AUGs.