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Low-level control technology of micro autonomous underwater vehicle based on intelligent computing

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Abstract

Based on the modeling of a micro autonomous underwater vehicle, an improved control structure and underlying control method are proposed for some parameters such as the automatic orientation, automatic depth, height, and speed of the micro autonomous underwater vehicle. A cascade double closed-loop control structure is proposed to control the horizontal plane by controlling properties such as the automatic depth, height, positioning, the response speed and adjustment precision of the control are improved. The parameters of the proportional-integral-derivative (PID) control method can be optimized by using particle swarm optimization (PSO), and the fuzzy controller is designed to compare with the PID control of the autonomous underwater vehicles. Compared with the traditional PID control, the control effect of PSO–PID controller is stronger than that of the tranditional PID controller. Due to the uncertainty of the micro autonomous underwater vehicle mathematical model, the position control of PID controller is weaker than the fuzzy controller. The simulation results show that the proposed method has fast dynamic response and acceptable robustness.

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Acknowledgements

This work was supported in part by the National Natural Science Foundation of China subsidization project (51579047), the Natural Science Foundation of Heilongjiang Province (QC2017048), the National Defense Technology Fundamental Research Funds (JSHS2015604C002), the Natural Science Foundation of Harbin (2016RAQXJ077), and the Open Project Program of State Key Laboratory of Millimeter Waves (K201707).

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Authors and Affiliations

  1. College of Automation, Harbin Engineering University, Harbin, 150001, China

    Lanyong Zhang, Lei Zhang, Sheng Liu & Jiajia Zhou

  2. Imperial College London, London, SW, 7 2AZ, UK

    Lanyong Zhang & Christos Papavassiliou

  3. State Key Laboratory of Millimeter Waves, Nanjing, 210096, China

    Lanyong Zhang

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  1. Lanyong Zhang
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  2. Lei Zhang
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  3. Sheng Liu
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  4. Jiajia Zhou
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  5. Christos Papavassiliou
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Correspondence to Lanyong Zhang.

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Zhang, L., Zhang, L., Liu, S. et al. Low-level control technology of micro autonomous underwater vehicle based on intelligent computing. Cluster Comput 22 (Suppl 4), 8569–8580 (2019). https://doi.org/10.1007/s10586-018-1909-5

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  • DOI: https://doi.org/10.1007/s10586-018-1909-5

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