Model-Free PID Controller Based on Grey Wolf Optimizer for Hovering Autonomous Underwater Vehicle Depth Control

2020 ◽  
pp. 25-35
Author(s):  
Mohd Zaidi Mohd Tumari ◽  
Amar Faiz Zainal Abidin ◽  
Ahmad Anas Yusof ◽  
Mohd Shahrieel Mohd Aras ◽  
Nik Mohd Zaitul Akmal Mustapha ◽  
...  
Keyword(s):  
Pid Controller ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Grey Wolf Optimizer ◽  
Grey Wolf ◽  
Model Free ◽  
Depth Control

Kalman-PD Control for Depth System of Autonomous Underwater Vehicle

2014 ◽  
Vol 530-531 ◽  
pp. 990-998 ◽  
Author(s):  
Ming Yang Yu ◽  
Zhi Qiang Qiu ◽  
Hong Chen
Keyword(s):  
Control System ◽  
Pid Controller ◽  
Closed Loop ◽  
Autonomous Underwater Vehicle ◽  
Actuator Saturation ◽  
Underwater Vehicle ◽  
Pd Controller ◽  
Well Performance ◽  
Comparison Results ◽  
Depth Control

A Kalman-PD depth controller was designed for depth system of AUV, and the controller was simulated on MATLAB/ SIMULINK. Performance of the controller was observed with actuator saturation, random pitch sensor noise and random fin disturbances. At the same time, response of a conventional PID controller for depth closed loop was also given for comparison. Results show that the Kalman-PD controller gives well performance in dealing with the noisy and disordered depth control system of AUV.

scholarly journals An Autonomous Underwater Vehicle Simulation Using Linear Quadratic Servo Based on Open Control Platform

2012 ◽  
Vol 2012 ◽  
pp. 1-4 ◽  
Author(s):  
Nanang Syahroni ◽  
Jae Weon Choi
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Linear Quadratic ◽  
New Approach ◽  
Decentralized System ◽  
Vehicle Simulation ◽  
Depth Control ◽  
Open Control ◽  
Simulation Results ◽  
Optimal Regulator

This paper presents an optimal regulator for depth control simulation of an autonomous underwater vehicle (AUV) using a new approach of decentralized system environment called open control platform (OCP). Simulation results are presented to demonstrate performance of the proposed method.

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