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Experimental Research in an Integrated Sensor and Controller Design of AUV

version (115 KB) by Tan Wei Chiang
Deploying PID controller into Arduino as standalone application using MATLAB compiler


Updated 15 Aug 2017

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This project demonstrated an Autonomous Underwater Vehicle (AUV) equipped with integrated sensor and depth controller based on the pressure sensing which able to continuously sending the depth data to controller. The project is to develop a depth controller for AUV to submerge accurately. The depth Simulink Arduino algorithm is implemented on an Arduino Mega using Model-Based Design (MBD) with MATLAB and Simulink. MBD used to model, simulate and verify the Simulink control algorithm after obtained data through open-loop experiment test. Then, it deploys and tests the algorithm on the embedded AUV hardware. The focus was in controlling the AUV vertical trajectory as the AUV tried to remain stationary at the desired depth and having its overshoot, rise time and settling time minimized. The comparative study for the AUV depth-control by On-Off, Proportional Integral Derivative (PID) and Fuzzy Logic Controller (FLC) controllers. MBD has faster implementation with fewer coding error when deploy to AUV hardware.

Cite As

Tan Wei Chiang (2021). Experimental Research in an Integrated Sensor and Controller Design of AUV (, MATLAB Central File Exchange. Retrieved .

Comments and Ratings (2)

shuaishuai lv

Dewei LI

MATLAB Release Compatibility
Created with R2017a
Compatible with any release
Platform Compatibility
Windows macOS Linux

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