V3I5P3

Research and Synthesis of Tracking Controllers for Dynamic Systems Using an Integrated PID and Kalman Filter Approach

Bui Trung Dung^1*

Abstract

This paper presents a sustainable depth control method for underwater vehicles based on the integration of the Proportional–Integral–Derivative (PID) controller and the Kalman filter. The linearized dynamic model of the vehicle is constructed in the state-space form with four state variables: depth, pitch angle, pitch rate, and horizontal rudder actuator angle. The PID controller is designed to ensure fast response and small tracking error, while the Kalman filter is employed to accurately estimate states in the presence of measurement noise and external disturbances. Simulations are carried out on a typical operational scenario with sudden disturbances and sensor errors, evaluating performance indices such as Mean Absolute Error (MAE), Root Mean Square Error (RMSE), Bias, and Standard Deviation (STD). The results show that the proposed method maintains stable depth-tracking capability and reduces estimation errors even under significant noise conditions.

Keywords:

Depth control; PID; Kalman filter; Underwater vehicle; State estimation; Simulation