Fractional-Order PID Controller of USV Course-Keeping Using Hybrid GA-PSO Algorithm

To the problem that traditional PID control method for course-keeping is sensitive to the change of underactuated surface vessels (USV) parameters, an improved fractionalorder PI^λD^μ controller based on hybrid GA-PSO Algorithm was designed. The two additional adjustable parameters such as integral-order λ and differential -order μ make the controller more flexible, robust and have stronger disturbance rejection ability. The parameters of fractional-order PI^λD^μ controller are determined by using hybrid GA-PSO algorithm, which reduce the probability of searching to the local optimal solution and ensure the accuracy of the global optimal solution. The simulation results show that the fractional-order PI^λD^μ controller based on hybrid GA-PSO has better dynamic tracking performance and smaller overshoot and stronger immunity than the traditional PSO-PID controller.