AUV 심도 제어를 위한 RCGA 기반 PD 제어

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.