Control of autonomous underwater vehicle using fractional order PIλ controller

Autonomous underwater vehicle (AUV) system is complex and highly nonlinear, the controller design for AUV is always a crucial task. Improving the performance of AUV in such applications as seafloor mapping, oil and gas exploration and defense requires improving the vehicle's maneuvering precision. These goals can be achieved through the improvement of the vehicle control system. This paper presents the control of AUV's speed, depth and steering. Fractional order PIλ controller is designed and it is compared with classical integer order PI controller.