Abstract
Path following control based on S-plane controller is one of the key technologies of UUV motion control. Aiming at the problem of high UUV path following error caused by manually setting S-plane control parameters, the artificial fish swarm algorithm is improved by adopting methods such as predatory behavior, adaptive step size, and field of view with attenuation factor to improve the optimization performance of the artificial fish swarm. The improved fish swarm algorithm (IAFSA) is used to tune the control parameters of the S-plane forward speed controller and the yaw angular speed controller. Through simulation and experimental analysis, the IAFSA has a faster convergence speed, and the ability to jump out of the local optimal value is significantly enhanced. The index of the S-plane controller using the tuned parameters is reduced compared with that before tuning.
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This work is supported by the National Natural Science Foundation of China (No. 41974005).
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Wang, Z., Yang, Y., Zhou, S., Li, H. (2023). S-Plane Controller Parameter Tuning Based on IAFSA for UUV. In: Pan, L., Zhao, D., Li, L., Lin, J. (eds) Bio-Inspired Computing: Theories and Applications. BIC-TA 2022. Communications in Computer and Information Science, vol 1801. Springer, Singapore. https://doi.org/10.1007/978-981-99-1549-1_6
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DOI: https://doi.org/10.1007/978-981-99-1549-1_6
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