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Kalman-PD Control for Depth System of Autonomous Underwater Vehicle

A Kalman-PD depth controller was designed for depth system of AUV, and the controller was simulated on MATLAB/ SIMULINK. Performance of the controller was observed with actuator saturation, random pitch sensor noise and random fin disturbances. At the same time, response of a conventional PID controller for depth closed loop was also given for comparison. Results show that the Kalman-PD controller gives well performance in dealing with the noisy and disordered depth control system of AUV.