Details

Autor(en) / Beteiligte

• Harun, Nurfadzillah
• Zain, Zainah Md
• Noh, Maziyah Mat

Titel

PSO approach for a PID back-stepping control method in stabilizing an underactuated X4-AUV

Ist Teil von

• 2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS), 2017, p.1-6

Ort / Verlag

IEEE

Erscheinungsjahr

2017

Quelle

IEEE Xplore

Beschreibungen/Notizen

• This paper presents a particle swarming optimization (PSO) approach in optimizing the performance of the back-stepping control strategies application in stabilizing an underactuated X-4 autonomous underwater vehicle (AUV). The PSO was used to optimize the PID back-stepping controller parameter gain. Twelve controller parameter gains were generated using PSO. The simulation results have shown that the PSO has demonstrated a better performance as compared the manual tuning. The proposed control shows improvements in settling time, and it has rapid responses compare than a controller with manual tuning parameters. The effectiveness of the controllers is verified in a computer simulation using MATLAB software.