2015
DOI: 10.1109/iccas.2015.7364719
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Abstract: In this paper, we suggest a PID controller for tracking the way-points of hovering autonomous underwater vehicle(HAUV). The PID controller is aimed at tracking arbitrary way-points and the way-points are established as the surveillance pathway for an offshore plant construction. Controllers are composed of a vertical plane controller and a horizontal plane controller. To verify the performance of the suggested controller, we designed a simulator using Matlab/Simulink, and the parameters of HAUV are those of d…

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