Improved PD Controller for AUV Bsed on MPSO

Author

Lv, Chong ; Pang, Yong-Jie ; Zhang, Lei

Author_Institution

State Key Lab. of AUV, Harbin Eng. Univ., Harbin

fYear

2009

fDate

1-2 Feb. 2009

Firstpage

24

Lastpage

28

Abstract

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.

Keywords

PD control; hydrodynamics; mobile robots; motion control; particle swarm optimisation; underwater vehicles; AUV; MPSO; PD controller; autonomous underwater vehicle; hydrodynamic model; modified particle swarm optimization algorithm; motion control equation; Automatic control; Control systems; Equations; Hydrodynamics; Laboratories; Motion control; PD control; Particle swarm optimization; Robot control; Robotics and automation; AUV; hydrodynamic model; modified Particle Swarm Optimization; motion control;

fLanguage

English

Publisher

ieee

Conference_Titel

Informatics in Control, Automation and Robotics, 2009. CAR '09. International Asia Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-3331-5

Type

conf

DOI

10.1109/CAR.2009.16

Filename

4777187