Research of GA-based PID for AUV motion control

Author

Chen, Qiang ; Chen, Tao ; Zhang, Yang

Author_Institution

Inst. of Naval Vessels, Navy Acad. of Armament, Beijing, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

4446

Lastpage

4451

Abstract

This paper describes the research of genetic algorithm (GA) based PID for autonomous underwater vehicle (AUV) motion control. A simulation of heading control application is considered using GA and improved GA based PID. The dynamic model of AUV is established. The design method of GA and improved GA based PID is introduced. The heading control design model is obtained by the AUV linearization model at given operating points which considering the ocean current disturb. The heading controller is designed according to the method of GA and improved GA based PID. The simulation results show that the controller is effective with good dynamic performances for AUV motion control.

Keywords

control system synthesis; genetic algorithms; linearisation techniques; mobile robots; position control; remotely operated vehicles; three-term control; underwater vehicles; AUV linearization model; AUV motion control; GA-based PID; autonomous underwater vehicle; dynamic performance; genetic algorithm; heading control application; heading control design model; heading controller; ocean current; Design optimization; Elevators; Equations; Genetic algorithms; Motion control; Oceans; Sliding mode control; Three-term control; Underwater vehicles; Vehicle dynamics; PID control; autonomous underwater vehicle; genetic algorithm; motion control;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246715

Filename

5246715