This work presents a detailed situation about the linear control design for the yaw in the Cormoran autonomous underwater vehicle (auv). The development includes the physical limitations of the rudder that involve more constraints for the control.
The whole system is simulated in simulink and three different controls (P, PD, PID) are compared.
González, J.; Masmitja, I.; Gomariz, S. Linear control of the yaw and rudder limitations. "Instrumentation viewpoint", 01 Juliol 2013, núm. 15.