Heading control of AUV based on GA and fractional order technology
<b>[Objectives]</b> Autonomous Underwater Vehicle (AUV) is an important tool for ocean exploration and exploitation,which plays an important role in ocean resources exploration,underwater equipment maintenance,underwater search and rescue,etc. Heading control of AUV is the fundamental fu...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Editorial Office of Chinese Journal of Ship Research
2018-12-01
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| Series: | Zhongguo Jianchuan Yanjiu |
| Subjects: | |
| Online Access: | http://www.ship-research.com/EN/Y2018/V13/I6/87 |
| _version_ | 1818852553191849984 |
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| author | ZHAO Rui XU Jian WANG Miao XIANG Xianbo XU Guohua |
| author_facet | ZHAO Rui XU Jian WANG Miao XIANG Xianbo XU Guohua |
| author_sort | ZHAO Rui |
| collection | DOAJ |
| description | <b>[Objectives]</b> Autonomous Underwater Vehicle (AUV) is an important tool for ocean exploration and exploitation,which plays an important role in ocean resources exploration,underwater equipment maintenance,underwater search and rescue,etc. Heading control of AUV is the fundamental function to accomplish underwater mission. At present, conventional Integer-Order PID (IOPID) controller is widely used for heading control in domestic engineering. However,its robustness is poor and parameter setting is complex.<b>[Methods]</b> Due to the shortcomings mentioned above,a heading controller based on Fractional-Order PID(FOPID)technology is proposed,and Genetic Algorithm(GA)is adopted to automatically tune the control gains and enable the practical implementation of the controller. The numerical simulations for PID,GA based IOPID and GA based FOPID are compared respectively by trial-and-error method.<b>[Results]</b> The results showed that,compared with the other two controllers,the GA based FOPID heading controller has a significantly reduced overshoot when the rise time and the steady-state error are basically equal,<b>[Conclusions]</b> which indicates that the AUV applying the GA based FOPID is more effective and advantageous. |
| first_indexed | 2024-12-19T07:22:45Z |
| format | Article |
| id | doaj.art-65f53410076e4dabb7a5d2498d97daf1 |
| institution | Directory Open Access Journal |
| issn | 1673-3185 1673-3185 |
| language | English |
| last_indexed | 2024-12-19T07:22:45Z |
| publishDate | 2018-12-01 |
| publisher | Editorial Office of Chinese Journal of Ship Research |
| record_format | Article |
| series | Zhongguo Jianchuan Yanjiu |
| spelling | doaj.art-65f53410076e4dabb7a5d2498d97daf12022-12-21T20:30:53ZengEditorial Office of Chinese Journal of Ship ResearchZhongguo Jianchuan Yanjiu1673-31851673-31852018-12-01136879310.19693/j.issn.1673-3185.01185201806012Heading control of AUV based on GA and fractional order technologyZHAO Rui0XU Jian1WANG Miao2XIANG Xianbo3XU Guohua4China Ship Development and Design Center, Wuhan 430064, ChinaChina Ship Development and Design Center, Wuhan 430064, ChinaChina Ship Development and Design Center, Wuhan 430064, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China<b>[Objectives]</b> Autonomous Underwater Vehicle (AUV) is an important tool for ocean exploration and exploitation,which plays an important role in ocean resources exploration,underwater equipment maintenance,underwater search and rescue,etc. Heading control of AUV is the fundamental function to accomplish underwater mission. At present, conventional Integer-Order PID (IOPID) controller is widely used for heading control in domestic engineering. However,its robustness is poor and parameter setting is complex.<b>[Methods]</b> Due to the shortcomings mentioned above,a heading controller based on Fractional-Order PID(FOPID)technology is proposed,and Genetic Algorithm(GA)is adopted to automatically tune the control gains and enable the practical implementation of the controller. The numerical simulations for PID,GA based IOPID and GA based FOPID are compared respectively by trial-and-error method.<b>[Results]</b> The results showed that,compared with the other two controllers,the GA based FOPID heading controller has a significantly reduced overshoot when the rise time and the steady-state error are basically equal,<b>[Conclusions]</b> which indicates that the AUV applying the GA based FOPID is more effective and advantageous.http://www.ship-research.com/EN/Y2018/V13/I6/87Autonomous Underwater Vehicle (AUV)fractional orderGenetic Algorithm (GA)heading control |
| spellingShingle | ZHAO Rui XU Jian WANG Miao XIANG Xianbo XU Guohua Heading control of AUV based on GA and fractional order technology Zhongguo Jianchuan Yanjiu Autonomous Underwater Vehicle (AUV) fractional order Genetic Algorithm (GA) heading control |
| title | Heading control of AUV based on GA and fractional order technology |
| title_full | Heading control of AUV based on GA and fractional order technology |
| title_fullStr | Heading control of AUV based on GA and fractional order technology |
| title_full_unstemmed | Heading control of AUV based on GA and fractional order technology |
| title_short | Heading control of AUV based on GA and fractional order technology |
| title_sort | heading control of auv based on ga and fractional order technology |
| topic | Autonomous Underwater Vehicle (AUV) fractional order Genetic Algorithm (GA) heading control |
| url | http://www.ship-research.com/EN/Y2018/V13/I6/87 |
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