DEVELOPMENT OF CONTROL DESIGN FOR TRACKING TRAJECTORY OF UNDER ACTUATED UNDERWATER VEHICLE USING ROOT LOCUS TECHNIQUE

Abstract

This paper presents the development of a position tracking controller for an under actuated underwater vehicle (UUV) using the root locus technique. The development of UUV has seen significant progress in recent years with many prospects of improvement. Its application allows dangerous operations such as search and rescue missions to be performed without human involvement on board. In this paper, the nonlinear dynamic model of UUV is developed, and a second-order step response is obtained. A position tracking control using a PID controller is designed using a root-locus technique to track the position of the UUV nonlinear system. The performance of the closed-loop control system is analyzed based on its transient response and steady-state error. The PD controller alone is sufficient to control the steady-state error and transient response based on the analysis. The result of simulation analysis will be used for tuning of a control system in actual underwater remotely operated vehicle UROV developed.