Time-Delay Controller Design for Position Control of Autonomous Underwater Vehicle Under Disturbances

@article{Kim2016TimeDelayCD,
  title={Time-Delay Controller Design for Position Control of Autonomous Underwater Vehicle Under Disturbances},
  author={Jongkyoo Kim and Hangil Joe and Son-cheol Yu and Jin S. Lee and Minsung Kim},
  journal={IEEE Transactions on Industrial Electronics},
  year={2016},
  volume={63},
  pages={1052-1061}
}
This paper presents an enhanced time-delay controller (TDC) for the position control of an autonomous underwater vehicle (AUV) under disturbances. A conventional TDC performs well when the involved data acquisition rate is fast. However, in AUV control applications that use a Doppler velocity log (DVL) navigation system, we cannot keep the data acquisition rate sufficiently fast because a DVL sensor generally supplies data at a slow acquisition rate, which degrades the performance of the TDC… CONTINUE READING
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