Genetic-Algorithm-Based Proportional Integral Controller (GAPI) for ROV Steering Control

Engineering Proceedings

article

Ahsan Tanveer¹  Sarvat Mushtaq Ahmad³ 

[1] Faculty of Mechanical Engineering, Ghulam Ishaq Khan Institute of Engineering Sciences and Technology;Department of Mechanical & Aerospace Engineering, Institute of Avionics and Aeronautics, Air University;Control & Instrumentation Engineering Department, King Fahd University of Petroleum and Minerals;Interdisciplinary Research Center for Intelligent Manufacturing and Robotics, King Fahd University of Petroleum and Minerals

关键词: underwater vehicle;    genetic algorithm;    simulated annealing;    ROV;    root-locus;    steering control;   

DOI  :  10.3390/engproc2023032004

来源: mdpi

【 摘 要 】

This article presents the design and real-time implementation of an optimal controller for precise steering control of a remotely operated underwater vehicle (ROV). A PI controller is investigated to achieve the desired steering performance. The gain parameters of the controller are tuned using the genetic algorithm (GA). The experimental response corresponding to the step waveform for the GA is obtained. A root-locus-tuned PI controller alongside a simulated-annealing-based PI controller (SAPI) is used to benchmark the response characteristics such as overshoot, peak time, and settling time. The experimental findings indicate that GAPI provides considerably better performance than SAPI and the root-locus-tuned controller.

【 授权许可】

Unknown