Abstract
This paper describes the dynamic modeling, structural analysis, implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). Various controllers such as PID, Sliding mode, and Fuzzy and H∞ controllers are designed for depth and heading control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking.
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