| Wang Bo (王波),Su Yumin,Wan Lei,Sun Yushan.[J].高技术通讯(英文),2011,17(1):7~12 |
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| Adaptive PID control system for an autonomous underwater vehicle |
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| DOI： |
| 中文关键词: |
| 英文关键词: autonomous underwater vehicle (AUV)， control system， adaptive PID control， semi-physical simulation |
| 基金项目: |
| Author Name | Affiliation | | Wang Bo (王波) | | | Su Yumin | | | Wan Lei | | | Sun Yushan | |
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| 中文摘要: |
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| 英文摘要: |
| The control system of an autonomous underwater vehicle (AUV) is introduced. According to the control requirements of the AUV, a simple but practical adaptive PI
D control method is designed. The semi-physical simulation is done to test the feasibility of the control system. The neural network idea and the structure o
f PID controller are referred to design the adaptive PID controller. An intelligent integral is introduced to improve control precision. Compaed with tradit
ional PID controllers, the adaptive PID controller has simple structure, good online adjusting ability, fast convergence and good robustness. The simulation exp
eriments also show that the adaptive PID control system has high precision and fine antijamming ability. |
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