Abstract
A new class of autonomous underwater vehicle (AUV) is a hybrid underwater glider (HUG) that integrates buoyancy engine and propeller as the main actuator. This kind of vehicle has multi-mode to act that is glider and AUV mode that derive to the mathematical model for the longitudinal and lateral plane. To design steer control of HUG, the mathematical model derives to a linear equation, and the variable controller is rudder for yaw control and main thruster for speed control of HUG. The method of control design is Proportional, Integral and Derivative (PID), there is PD for yaw controller and P for speed controller that are simulated using MATLAB/Simulink to get a response so that we can verify the dynamic model for steering control using waypoint desire. The results demonstrate dynamic response for the lateral plane over waypoint on the surfaces of water.
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