Research of GA-based PID for AUV motion control

This paper describes the research of genetic algorithm (GA) based PID for autonomous underwater vehicle (AUV) motion control. A simulation of heading control application is considered using GA and improved GA based PID. The dynamic model of AUV is established. The design method of GA and improved GA based PID is introduced. The heading control design model is obtained by the AUV linearization model at given operating points which considering the ocean current disturb. The heading controller is designed according to the method of GA and improved GA based PID. The simulation results show that the controller is effective with good dynamic performances for AUV motion control.

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