한국해양대학교

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AUV 심도 제어를 위한 RCGA 기반 PD 제어

Title
AUV 심도 제어를 위한 RCGA 기반 PD 제어
Author(s)
강선이
Publication Year
2016
Publisher
한국해양대학교 대학원
URI
http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002236904
http://repository.kmou.ac.kr/handle/2014.oak/8154
Abstract
In industrial processed and many other control problems, even now more than 95% of the controllers are of the PID controller type. The PID controller has several important functions. It has ability to get rid of steady-state error through integral action and anticipate the future through derivative action. There are many different methods for tuning the PID controller.

In this thesis, P controller for pitch controller of outer loop control system and PD controller for fin controller of inner loop control system are proposed incorporating with real-coded genetic algorithms(RCGAs) for depth control of REMUS AUV. The optimal parameters sets of the depth controller are obtained based on a RCGA and a linearized depth plan model of REMUS. As for assessing the performance of the control system based on real-coded genetic algorithms, three performance criteria (ISE, IAE and ITAE) are adopted. And designing the controller involves a constrained optimization problem. Therefore, a real-coded genetic algorithms incorporating the penalty strategy is used.

A set of simulation works are carried out on depth control system of REMUS AUV to be satisfied the set-point tracking performance within controller design criteria.
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메카트로닉스공학과 > Thesis
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