Depth Control Simulation of Autonomous Underwater Vehicle with Communication Delay

This paper presents a depth control simulation of autonomous underwater vehicle (AUV) using a decentralized system approach called the Open Control Platform (OCP). We briefly discuss various delay time phenomena from the actuator model, network latency, and computational time processing, which are estimated using the estimated delay time reflected in the system design infrastructure. The proposed structure consists of the optimal regulator equation with the delay results obtained by bringing the original problem to the quadratic servo design (LQ) and the delay compensation method, which modifies input delays (generated by human operators) and outputs. The numerical method for delayed differential equations (DDE) is a direct analogy from the classical numerical method of ordinary differential equations (ODE), and will be compared with the proposed method. Simulation results are presented, showing the performance of traditional methods and new methods based on OCP.