Heading Control of Unmanned Submersible Vehicle

In this paper a mathematical model for the whole control system (vehicle, steering gear and controller) is presented. The system was subjected to a few different optimization methods: Ultimate Sensitivity Tuning Method, Systematic Tuning Method, as well as a cost function (integral of quadratic dynamic error). This criterion is used to minimize a fuel consumption. Selection of the controller is examined and defined. Optimal parameters have been investigated and analyzed. To analyze stability of the system analytical and graphical methods are used (Routh's criteria and Root-Locus). Simulation of the system is performed by using Simulink and Matlab. Non-linear elements are added to the system to protect the mechanical component from being damaged. The presence of external disturbance is pointed out. Further improvement of the model is suggested.