Research on a fuzzy immune PID controller to reduce roll of near-water-surface vehicle with active bionic fin stabilizer

Near-surface vehicle will invectively roll, pitch and heave heavily when they close to surface where there are waves, sea wind and ocean current. These disturbances influenced the normal working and safety of the autonomous underwater vehicles a lot. As anti-roll technology develops, a kind of active bionic fin stabilizer which can reduce roll effectively comes out. Hence this kind of active stabilization system has a lot of uncertainties, A fuzzy-immune PID controller is proposed to optimize parameters of PID controller under different wave disturbance. From simulation results, it can be seen that this kind of PID controller can optimize system effectively.