Design of an Adaptive Depth Controller for an Autonomous Underwater Vehicle

The paper presents an adaptive controller for diving control of an autonomous underwater vehicle (AUV). An application is made to the control of an AUV in the vertical plane. The methodology adopted for controller design is a fuzzy PID method. Certain numerical studies are presented to illustrate the effectiveness of proposed control scheme. From the simulation results, we can see that the proposed scheme has improved the performance of dynamic precision of depth control system.