Underwater remotely operated vehicle control system with optimized PID based on improved particle swarm optimization DOI Creative Commons
Weixing Liu, Zihan Xia,

Linyan Wu

et al.

Desalination and Water Treatment, Journal Year: 2023, Volume and Issue: 314, P. 322 - 329

Published: Dec. 1, 2023

On account of the exponential development control theory and artificial intelligence technology in recent years, more is applied to robots, but PID method due simple structure good stability still has research value, core difficulty optimization parameters.In order solve underwater remotely operated vehicle (ROV) with high nonlinearity strong coupling characteristics, it can adjust its attitude time ensure performance face disturbance external complex environment.By improving particle swarm inertia weights, (PSO) algorithm reduces situation falling into local optimal solution applies adaptive parameterization.Comparing improved PSO-PID traditional simulation, concluded that certain improvement on ROV, which feasibility.

Language: Английский

NARX modeling and simulation of heave dynamics with application of robust control of an underactuated underwater vehicle DOI
S.M. Ahmad, Ahsan Tanveer

Ocean Engineering, Journal Year: 2025, Volume and Issue: 325, P. 120790 - 120790

Published: March 6, 2025

Language: Английский

Citations

0
A Chattering-Suppression Sliding Mode Controller for an Underwater Manipulator Using Time Delay Estimation DOI Creative Commons
Minghao Liu, Qirong Tang, Yinghao Li

et al.

Journal of Marine Science and Engineering, Journal Year: 2023, Volume and Issue: 11(9), P. 1742 - 1742

Published: Sept. 5, 2023

Underwater manipulators are pivotal in diverse applications, encompassing underwater pipeline repairs, salvage operations, and scientific sampling missions. However, attaining high-precision control mandates the establishment of precise mathematical models. Specifically, developing an accurate dynamic model for manipulator affixed to robots proves exceptionally demanding, primarily attributed uncertainties arising from water currents perturbations induced by vehicle’s motion. This paper presents a novel sliding mode controller with time delay estimation mounted on vehicle. The presented circumvents requirement exact manipulator, enhancing its precision even without detailed modeling information. Moreover, proposed guarantees robustness against uncertain flow disturbances, effectively preserving performance under challenging conditions. comprises two key elements. Firstly, estimator is employed estimate system states using feedback intentional time-delayed inputs pre-designed matrix. Additionally, specially designed reaching law incorporated reduce prevent chattering control. offers several advantages, including easy implementation, insensitivity uncertainties, environment. Simulations experiments demonstrate ability mitigate eliminate chattering, ensure trajectory-tracking performance. conducted fully self-developed 2-degree-of-freedom (2-DOF) showcasing superiority over other alternatives.

Language: Английский

Citations

3
GA Optimized PI-PDN Robust Control of a 1-DOF Maglev Precision Position System DOI Creative Commons
H.A. Malik, S.M. Ahmad, Fazli Wadood

et al.

IEEE Access, Journal Year: 2023, Volume and Issue: 11, P. 130955 - 130973

Published: Jan. 1, 2023

This paper investigates 2 difficult problems encountered in magnetic levitation systems: robust control design and disturbance rejection. A PI-PDN strategy is developed to the position of a 1-degree-of-freedom (DOF) levitated rigid beam system or MLS for precision positioning applications under parametric variations, uncertainties, external disturbances. The proposed gains are optimized by employing Genetic Algorithm (GA), Marine Predator (MPA), Particle Swarm Optimization (PSO). GA-tuned lead manifold improvement key time frequency domain performance specifications rise time, settling overshoot, tracking error, bandwidth, classical gain phase margins. Additionally, metrics disk margins (DM) employed assessing robustness closed-loop subjected simultaneous variation phase. To demonstrate effectiveness GA-PI-PDN topology, numerical simulation results compared with corresponding benchmark PIDN that GA-PI-PDN. algorithms were deployed on dedicated embedded utilizing Simulink automatic C++ code generation capabilities. development different strategies was aided building high fidelity mathematical model electromagnets experimental determination important parameters.

Language: Английский

Citations

1
Hybrid Layer of Improved Interfered Fluid Dynamic System and Nonlinear Model Predictive Control for Navigation and Control of Autonomous Underwater Vehicles DOI Creative Commons
Jiqing Du, Dan Zhou, Sachiyo Arai

et al.

Journal of Marine Science and Engineering, Journal Year: 2023, Volume and Issue: 11(10), P. 2014 - 2014

Published: Oct. 19, 2023

This study introduces a hybrid control structure called Improved Interfered Fluid Dynamic System Nonlinear Model Predictive Control (IIFDS-NMPC) for the path planning and trajectory tracking of autonomous underwater vehicles (AUVs). The system consists two layers; upper layer utilizes (IIFDS) planning, while lower employs (NMPC) tracking. Extensive simulation experiments are conducted to determine optimal parameters both static dynamic obstacle scenarios. Additionally, real-world testing is performed using BlueRov2 platform, incorporating multiple obstacles. proposed approach achieves real-time at frequency 100 Hz exhibits impressive accuracy, with root mean square (RMS) 0.02 m. research provides valuable framework navigation in practical applications.

Language: Английский

Citations

0
Underwater remotely operated vehicle control system with optimized PID based on improved particle swarm optimization DOI Creative Commons
Weixing Liu, Zihan Xia,

Linyan Wu

et al.

Desalination and Water Treatment, Journal Year: 2023, Volume and Issue: 314, P. 322 - 329

Published: Dec. 1, 2023

On account of the exponential development control theory and artificial intelligence technology in recent years, more is applied to robots, but PID method due simple structure good stability still has research value, core difficulty optimization parameters.In order solve underwater remotely operated vehicle (ROV) with high nonlinearity strong coupling characteristics, it can adjust its attitude time ensure performance face disturbance external complex environment.By improving particle swarm inertia weights, (PSO) algorithm reduces situation falling into local optimal solution applies adaptive parameterization.Comparing improved PSO-PID traditional simulation, concluded that certain improvement on ROV, which feasibility.

Language: Английский

Citations

0