Control of a hybrid glider (Kay Juul H) with regulation of roll: Preliminary results in real time

This paper describes the mechanical considerations, electronic architecture and the control strategies of an Autonomous Underwater Vehicle (AUV) Kay Juul H. Real time experiments for pitch and roll control are presented. The applied control technique was the sliding PID control, which main advantages are: second order sliding mode control, model free control and avoids the chattering effect. Satisfactory real time results were obtained for pitch and roll regulation. The contribution of this work is the use of the Sliding PID control in a hybrid glider, this nonlinear control technique has been used in many complex systems including underwater ROVs (Remotely Operated Vehicle).