Improved PD Controller for AUV Bsed on MPSO
Chong Lv, Yongjie Pang, Lei Zhang · 2009
Traditional motion controller for AUV is aiming at single degree of freedom(DOF) to decouple so it ignores the coupling effects of each DOF and it performs bad in some complex navigation states. In order to compensate the coupling effects, a novel PD controller is designed. This controller is constructed on the hydrodynamic model of AUV in six-DOFs and simplified according to the practical needs. It uses one motion control equation to realize the control in four-DOFs. Because the number of the control parameters is so large, it is hard to adjust them manually, so a modified Particle Swarm Optimization(MPSO) algorithm is used to optimize the parameters of control equation to improve efficiency and reduce the bad effect caused by subjective factors. Finally based on the simulation platform of a certain AUV, simulation experiments are conducted for the proposed controller and the results show that the presented controller is feasible in application to AUV.