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All Journal International Journal of Electrical and Computer Engineering
Dhaniel Beny Wardhana
Politeknik Negeri Batam
Computer Science & IT Electrical & Electronics Engineering

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Real-time depth measurement and stability control of AUV using regression approximation and filtered pressure data Senanjung Prayoga; Dhaniel Beny Wardhana; Ryan Satria Wijaya
International Journal of Electrical and Computer Engineering (IJECE) Vol 16, No 5: October 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v16i5.pp2417-2430

Abstract

This paper presents the development and experimental validation of a prototype-scale autonomous underwater vehicle (AUV) depth control system using a proportional-integral-derivative (PID) controller with depth feedback from a SEN0257 water-pressure sensor. Raw sensor readings are filtered and calibrated using linear regression, reducing the depth estimation error, as indicated by a decrease in root mean square error (RMSE) from 1.88 to 0.63 cm. The calibrated depth signal is implemented in real time as the feedback source for closed-loop control on the testbed. Controller performance is evaluated by comparing two tuning strategies: Ziegler–Nichols (ZN) closed-loop tuning and manual fine-tuning. Experiments were conducted at depth setpoints of 70 and 100 cm under consistent pool conditions, and additional trials were performed while the AUV executes forward motion to assess robustness under dynamic disturbances. System responses are quantified using rise time, overshoot, settling time, and steady-state error. Results show that calibration significantly improves sensor suitability for feedback, while the fine-tuned PID controller produces a more stable depth response with lower overshoot, smaller steady-state error, and shorter settling time than the ZN controller, despite the faster initial rise achieved by ZN tuning. Overall, combining calibrated pressure-based depth estimation with fine-tuned PID gains enables stable and accurate depth regulation for prototype AUV operation.
Co-Authors Ryan Satria Wijaya Senanjung Prayoga