Comparison of a PID controller versus a LQG controller for an autonomous underwater vehicle

Ignacio Carlucho; Bruno Menna; Mariano De Paula; Gerardo G. Acosta

doi:10.1109/SAISOE.2016.7922475

Comparison of a PID controller versus a LQG controller for an autonomous underwater vehicle

Ignacio Carlucho, Bruno Menna, Mariano De Paula, Gerardo G. Acosta

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Citations (Scopus)

Abstract

Currently autonomous underwater vehicles (AUVs) are facing an increase in their applications in the offshore industry, allowing maximum utilization of the maritime resources. Therefore, the development of autonomous control systems is imperious, for fast decision making in unknown situations or environments. In order to achieve this, is necessary to solve the control and navigation problem efficiently. In this article two control techniques, previously used in AUVs, are compared, in order to apply one of them in the submarine ICTIOBOT, a development platform designed by the research group INTELYMEC of the Faculty of Engineering of the UNICEN. Firstly two controllers are designed, a PID with a Kalman filter for state estimation, and a LQG controller. An evaluation of the performance is done in simulation, with regards to different operation conditions. The results show that the LQG strategy has a better performance that the PID although the latter is computationally more tractable.

Original language	English
Title of host publication	3rd IEEE/OES South American International Symposium on Oceanic Engineering 2016
Publisher	IEEE
ISBN (Electronic)	9781538618264
DOIs	https://doi.org/10.1109/SAISOE.2016.7922475
Publication status	Published - 11 May 2017
Event	3rd IEEE/OES South American International Symposium on Oceanic Engineering 2016 - Buenos Aires, Argentina Duration: 15 Jun 2016 → 17 Jun 2016

Conference

Conference	3rd IEEE/OES South American International Symposium on Oceanic Engineering 2016
Abbreviated title	SAISOE 2016
Country/Territory	Argentina
City	Buenos Aires
Period	15/06/16 → 17/06/16

ASJC Scopus subject areas

Automotive Engineering
Ocean Engineering

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10.1109/SAISOE.2016.7922475

Cite this

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title = "Comparison of a PID controller versus a LQG controller for an autonomous underwater vehicle",

abstract = "Currently autonomous underwater vehicles (AUVs) are facing an increase in their applications in the offshore industry, allowing maximum utilization of the maritime resources. Therefore, the development of autonomous control systems is imperious, for fast decision making in unknown situations or environments. In order to achieve this, is necessary to solve the control and navigation problem efficiently. In this article two control techniques, previously used in AUVs, are compared, in order to apply one of them in the submarine ICTIOBOT, a development platform designed by the research group INTELYMEC of the Faculty of Engineering of the UNICEN. Firstly two controllers are designed, a PID with a Kalman filter for state estimation, and a LQG controller. An evaluation of the performance is done in simulation, with regards to different operation conditions. The results show that the LQG strategy has a better performance that the PID although the latter is computationally more tractable.",

author = "Ignacio Carlucho and Bruno Menna and {De Paula}, Mariano and Acosta, {Gerardo G.}",

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year = "2017",

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Carlucho, I, Menna, B, De Paula, M & Acosta, GG 2017, Comparison of a PID controller versus a LQG controller for an autonomous underwater vehicle. in 3rd IEEE/OES South American International Symposium on Oceanic Engineering 2016., 7922475, IEEE, 3rd IEEE/OES South American International Symposium on Oceanic Engineering 2016, Buenos Aires, Argentina, 15/06/16. https://doi.org/10.1109/SAISOE.2016.7922475

TY - GEN

T1 - Comparison of a PID controller versus a LQG controller for an autonomous underwater vehicle

AU - Carlucho, Ignacio

AU - Menna, Bruno

AU - De Paula, Mariano

AU - Acosta, Gerardo G.

PY - 2017/5/11

Y1 - 2017/5/11

N2 - Currently autonomous underwater vehicles (AUVs) are facing an increase in their applications in the offshore industry, allowing maximum utilization of the maritime resources. Therefore, the development of autonomous control systems is imperious, for fast decision making in unknown situations or environments. In order to achieve this, is necessary to solve the control and navigation problem efficiently. In this article two control techniques, previously used in AUVs, are compared, in order to apply one of them in the submarine ICTIOBOT, a development platform designed by the research group INTELYMEC of the Faculty of Engineering of the UNICEN. Firstly two controllers are designed, a PID with a Kalman filter for state estimation, and a LQG controller. An evaluation of the performance is done in simulation, with regards to different operation conditions. The results show that the LQG strategy has a better performance that the PID although the latter is computationally more tractable.

AB - Currently autonomous underwater vehicles (AUVs) are facing an increase in their applications in the offshore industry, allowing maximum utilization of the maritime resources. Therefore, the development of autonomous control systems is imperious, for fast decision making in unknown situations or environments. In order to achieve this, is necessary to solve the control and navigation problem efficiently. In this article two control techniques, previously used in AUVs, are compared, in order to apply one of them in the submarine ICTIOBOT, a development platform designed by the research group INTELYMEC of the Faculty of Engineering of the UNICEN. Firstly two controllers are designed, a PID with a Kalman filter for state estimation, and a LQG controller. An evaluation of the performance is done in simulation, with regards to different operation conditions. The results show that the LQG strategy has a better performance that the PID although the latter is computationally more tractable.

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M3 - Conference contribution

AN - SCOPUS:85020236959

BT - 3rd IEEE/OES South American International Symposium on Oceanic Engineering 2016

PB - IEEE

T2 - 3rd IEEE/OES South American International Symposium on Oceanic Engineering 2016

Y2 - 15 June 2016 through 17 June 2016

ER -

Comparison of a PID controller versus a LQG controller for an autonomous underwater vehicle

Abstract

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ASJC Scopus subject areas

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