Title :
Adaptive self-tuning PID control of submarine periscope
Author :
Javanfar, Elham ; Tehrani, Nafiseh Mazaheri ; Vali, Ahmadreza
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Malek-e-Ashtar, Tehran, Iran
Abstract :
In this paper, a self-tuning PID controller with low pass filter is applied to deal with the trajectory tracking of periscope in the presence of disturbances. The theory develops a simple way to perform gradient descent to adjust PID parameters. This method is especially true if the plant is a nonlinear system with changing operation points. Case study simulations are provided to demonstrate the capabilities of the proposed method.
Keywords :
adaptive control; differential equations; gradient methods; low-pass filters; nonlinear control systems; self-adjusting systems; three-term control; trajectory control; underwater vehicles; vehicle dynamics; Euler-Lagrange equations; PID parameter adjustment; adaptive self-tuning PID control; changing operation points; disturbance presence; dynamic equations; gradient descent; low pass filter; nonlinear system; submarine periscope; trajectory tracking; Equations; Mathematical model; Tuning; Adaptive Self-Tuning PID Controller; Dynamic equations; Euler-Lagrange equations; Periscope;
Conference_Titel :
Electronics Information and Emergency Communication (ICEIEC), 2013 IEEE 4th International Conference on
Conference_Location :
Beijing
DOI :
10.1109/ICEIEC.2013.6835484
