Heading control of UWV and performance analysis subject to hydrodynamic disturbances

Abstract

Maneuvering of unmanned underwater vehicle (UUV) is a challenging task especially when it is subject to hydrodynamic disturbances. In this paper, the heading control of UUV is considered. A comprehensive performance analysis based on proportional-integral-derivative controllers is presented. The simulations are performed on unmanned free swimming submersible and model obtained using real data from HydroView MAX™. Under hydrodynamic disturbances PID controllers performed the best for the heading control.