کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

An Artificial Bee Colony Based PID Controller for Depth Control of an Autonomous Underwater Vehicle

نویسندگان :

Kouhyar Sheida¹ Maedeh Nobari² Barmak Baigzadehnoe³ Hassan Bevrani⁴

1- دانشکاه کردستان 2- دانشگاه کردستان 3- دانشگاه کردستان 4- دانشگاه کردستان

کلمات کلیدی :

Artificial Bee Colony Algorithm, Autonomous Underwater Vehicle, Depth Control, PID Controller, Artificial Bee Colony Based PID

چکیده :

Depth control of an autonomous underwater vehicle (AUV) has been regarded as one of the most key applications in ocean exploration. The unknown dynamic model, the surge, and yaw motions coupling of the AUV make the proportional integral derivative (PID) controllers and most of other model-based methods inefficient to solve the existing practical control problems. To cover this issue, an artificial bee colony (ABC) method is applied to tune the PID parameters of depth control of an AUV control system. The proposed controller achieves the steady state 0.1320 second and significantly reduces the overshoot rate. The simulations show the effectiveness of the developed ABC-based control scheme is even comparable to the model-based controllers.