Development of autonomous underwater inspection robot under disturbances

In the modern world, there are so many applications where Autonomous Underwater Inspection Robots are used. Applications like pipeline inspection, ship and flight wreck search, surveying seabed mosaics, etc. are few examples for that. How to utilize the control algorithm for stabilizing the underwater vehicle, so that they can perfectly execute the above applications is explained in this paper. Here a Time Delay Controller is used for the position and altitude control of an underwater inspection robot with disturbances. An Inertial Measurement Unit is used as the sensor since the controller used here needs the derivative of the system state to be known. The controller proposed here makes computations easier and it reduces the steady state error.