Non-linear Steering Control of Submersible Vehicle

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aut.relation.endpage128
aut.relation.issueNorth Atlantic University Unionen_NZ
aut.relation.journalInternational Journal of Computers and Communicationsen_NZ
aut.relation.pages9
aut.relation.startpage120
aut.relation.volumeVolume 10en_NZ
aut.researcherPopovich, Nenad
dc.contributor.authorPopovich, Nen_NZ
dc.contributor.authorSingh, RRen_NZ
dc.date.accessioned2019-02-28T00:15:50Z
dc.date.available2019-02-28T00:15:50Z
dc.date.copyright2016-10-01en_NZ
dc.date.issued2016-10-01en_NZ
dc.description.abstractIn this paper a mathematical model for the steering control system of submersible vehicle is presented. System has been analysed with numerical and graph-analytical methods. Different types of controllers: P, PI, PD and PID are investigated. Ultimate sensitivity tuning method (Ziegler-Nichols Second method) is used to establish initial controller parameters. Optimal controller parameters have been determined using a Fine tuning method. PD controller has chosen as the best option for the system. Two different criteria are selected to find controller’s optimal parameters: Integral Squared Error and Integral Absolute Error. Dynamical behaviour of the system has been simulated by Simulink and Matlab. Non-linear elements are added to protect a rudder/steering gear. A sea current as the dominant disturbance has been implemented in the system and its influence on the system has been investigated.
dc.identifier.citationInternational Journal of Computers and Communications, Volume 10, 2016, pp. 120-128.
dc.identifier.issn2074-1294en_NZ
dc.identifier.urihttps://hdl.handle.net/10292/12294
dc.publisherNorth Atlantic University Union (NAUN)
dc.relation.urihttp://www.naun.org/main/UPress/cc/2016/a362012-069.pdf
dc.rightsThe PDF files of all NAUN Journals are open to everyone, without any username/password requirements.
dc.rights.accessrightsOpenAccessen_NZ
dc.subjectSubmersible vehicle; Steering control; Simulink; Optimal parameters; ISE and IAE; Non-linear system; Disturbance
dc.titleNon-linear Steering Control of Submersible Vehicleen_NZ
dc.typeJournal Article
pubs.elements-id219546
pubs.organisational-data/AUT
pubs.organisational-data/AUT/Design & Creative Technologies
pubs.organisational-data/AUT/Design & Creative Technologies/Engineering, Computer & Mathematical Sciences
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