Stabilizing the dynamic behavior and Position control of a Remotely Operated Underwater Vehicle

Remotely operated underwater vehicle (ROUV) provides an interesting and extensible platform to search the wanted objects and for the inspection of deep sea. The basic goal of this research is to control the position and stabilize the dynamic behavior of ROUV. In this study, we design the dual controller approach design for controlling the overall responses of ROUV. The design dual controller consists of model reference adaptive control (MRAC) along with proportional integral derivative (PID) controller and an integral use for the feedback of the design scheme. The dynamic moments and disturbances in the system is dealt by MRAC controller and PID controller is responsible for tuning the adaptive gains of the system. However, Lyapunov stability criterion is responsible for the stability of the system. The inclusion of integrator as a feedback in the system increases the order of the system model, but it helps to eliminate the steady state error and also improves the convergence rate of the system. The designed control algorithm is tested and confirmed its validity using experiment and simulations by tracking the reference path of the ROUV. It is evidence that the designed control system shows quick convergence, improved steady state error and better robustness in the presence of disturbances.