Motion Control of AUV using IMC-PID Controller

This paper highlights on IMC based PID controller for controlling the pitch of the Autonomous Underwater Vehicle (AUV).A detail study of the kinematics and dynamic of an AUV has been described with the help of 6 DOF equations using body and earth fixed frame.To analyze the system better the mathematical model of AUV is reduced to a FOPDT.The simulated shows the efficiency of IMC-PID controller as compared to the conventional PID controller designed and tuned using CHR method.