In this paper, a robust P-PD controller is designed for an AUV (Autonomous underwater vehicle) using QFT (Quantitative Feedback Theory) in the presence of plant uncertainty and disturbances in diving plane motion. The PD (proportional-derivative) controller controls the angle of the vehicle pitch and an outer P loop controller will control the vehicle depth. Since using classical methods to adjust PD for the inner loop and P for the outer loop, despite the plant uncertainty and the presence of disturbances, is complex and time-consuming, therefore, the QFT technique, as a robust controller method, is used in this research. The nonlinear AUV equations of motion are linearized in-depth plane and QFT is used for controller design for this system. System stability is considered in the design process. The performance of the P-PD controller designed by the robust QFT method is simulated numerically on the original nonlinear equations of the system. The simulation results show that the designed P-PD controller using QFT offers robust stability, disturbance rejection, and proper reference tracking over a range of AUV parametric uncertainties.
Safari, F., Rafeeyan, M., Danesh, M. (2022). Design of Robust P-PD Controller for an AUV Using Quantitative Feedback Theory (QFT) in the Diving Plane. AUT Journal of Mechanical Engineering, 6(3), 4-4. doi: 10.22060/ajme.2022.20964.6026
MLA
Farhad Safari; Mansoor Rafeeyan; Mohammad Danesh. "Design of Robust P-PD Controller for an AUV Using Quantitative Feedback Theory (QFT) in the Diving Plane". AUT Journal of Mechanical Engineering, 6, 3, 2022, 4-4. doi: 10.22060/ajme.2022.20964.6026
HARVARD
Safari, F., Rafeeyan, M., Danesh, M. (2022). 'Design of Robust P-PD Controller for an AUV Using Quantitative Feedback Theory (QFT) in the Diving Plane', AUT Journal of Mechanical Engineering, 6(3), pp. 4-4. doi: 10.22060/ajme.2022.20964.6026
VANCOUVER
Safari, F., Rafeeyan, M., Danesh, M. Design of Robust P-PD Controller for an AUV Using Quantitative Feedback Theory (QFT) in the Diving Plane. AUT Journal of Mechanical Engineering, 2022; 6(3): 4-4. doi: 10.22060/ajme.2022.20964.6026