The week's pick
Random Articles
Reseach Article
Robust Steering Control of Autonomous Underwater Vehicle: based on PID Tuning Evolutionary Optimization Technique
| International Journal of Computer Applications |
| Foundation of Computer Science (FCS), NY, USA |
| Volume 117 - Number 18 |
| Year of Publication: 2015 |
| Authors: Ankush Rathore, Mahendra Kumar |
10.5120/20651-3179
|
Ankush Rathore, Mahendra Kumar . Robust Steering Control of Autonomous Underwater Vehicle: based on PID Tuning Evolutionary Optimization Technique. International Journal of Computer Applications. 117, 18 ( May 2015), 1-6. DOI=10.5120/20651-3179
Abstract
This paper is devoted to a robust steering control of Autonomous Underwater Vehicle (AUV) based on tuning of PID controller using Genetic Algorithm (GA) and Harmonic Search Algorithm (HSA). Tuning of PID parameters is important because, these parameters have a great effect on the stability and performance of the control system. A harmonic Search Algorithm (HSA) technique uses to tune the PID parameters in AUV system. The HS algorithm mimics behaviors of music players in an improvisation process, in order to find a better state of harmony which can be translated into a solution vector in the optimization process. Numerical solutions based on the proposed PID control of an AUV system for nominal system parameters. In control strategies, like PID controller are succesfully designed to control the autonomous underwater vehicle. The elementary focus is to simulate the controller response.
References
- K. Goheen and E Jefferys, "The application of alternative modeling technique to ROV dynamics" in proceedings of IEEE international conference on Robotics and Automation, 1990. pp 1302-1309 vol. 2.
- R. Wernli, "Auv commercialization-who's leading the pack?" in OCEANS 2000 MTS/IEEE Con-ference and Exhibition, vol. 1, Providence, RI, 2000, pp. 391–395.
- R. L. Wernli, "Auvs-a technology whose time has come," in International Symposium on Underwater Technology, Tokyo, Japan, 2002, pp. 309–314.
- Johnson, C. G. and Cardalda, J. J. R. : Genetic Algorithms in Visual Art and Music. Leonardo. 35(2) (2002) 175-184.
- D. E. Goldberg, Genetic algorithms in search, optimisation, and machine learning, Addison Wesley Longman, Inc. , ISBN 0-201-15767-5, 1989.
- Dr. Rajib Kumar Bhattacharyya, Introduction to Genetic Algorithm, Department of Civil Engineering IIT Guwahati.
- Noraini Mohd Razali, John Geraghty,"A genetic algorithm performance with different selection strategies", Proceedings of the World Congress on Engineering Vol II, 2011.
- J. Holland, Adaptation in natural and artificial systems, University of Michigan Press, Ann Arbor, 1975.
- David E. Goldberg, "Genetic algorithms in search, optimization and machine learning," Addison Wesley, 1989.
- Elisaveta G. Shopova; Natasha G. Vaklieva-Bancheva;"BASIC-A genetic algorithm for engineering problems solution," Elsevier journal 2005, pp-1-17.
- T. Fossen, Guidance and Control of Ocean Vehicles. New York: Wiley, 1994, ch. 2, pp. 6–55.
- Geem, Z. W. : Improved Harmony Search from Ensemble of Music Players. Lecture Notes in Artificial Intelligence. 4251 (2006) 86-93
- E. V. Lewis, Principles of naval architecture, Published by SNAME, 1988.
- SNAME, Nomenclature for treating the motion of a ubmerged body through a fluid. Technical and research bulletin No. I-3. The Society of Naval Architects and Marine engineers. 29 West 39th Street, New York 18, N. Y. , 1950.
- T. Fossen, Guidance and Control of Ocean Vehicles. New York: Wiley, 1994, ch. 2, pp. 6–55.
- Fossen, Thor I. "Guidance and Control of Ocean Vehicles". Wiley, New York, 1994
- Hancock. P, "A comparison of selection mechanisms", . In Handbook of Evolutionary Computation, Eds. IOP Publishing and Oxford University Press, Bristol, UK, 1997.
- S. D. Kadam and K. N. Tiwari, "A simplified approach to tune PD controller for depth control of an autonomous underwater vehicle," in proceedings of National conference on Communication, Computing and Networking Technologies, 2013. pp. 209-212.
- Jin-Sung Kim,Jin-Hwan Kim,Ji-Mo Park,Sung-Man Park,Won-Yong Choe and Hoon Heo,"Auto tuning PID controller based on improved Genetic Algorithm for reverse osmosis plant," World academy of Science, Engineering and Technology 23 2008,pp-384-389.
- Liu fan and Er Meng Joo, "Design for auto-tuning PID controller based on Genetic Algorithms,"IEEE conference on Industrial Electronics and application. 2009, pp-1924-1928.
- Mitchell Melanie, "An Introduction to Genetic Algorithms,"5th ed. MIT Press, 1998.
- Tae-Hyoung Kim, Ichiro Maruta and Toshiharu Sugie, 2007 "Robust PID Controller Tuning Based on Constrained Particle Swarm Optimization", Automatica, 44(4), pp. 1104-1110, 2008.
- J. , Tasgetiren, M. F. (2010). A local-best harmony search algorithm with dynamic subpopulations. Engineering Optimization, 42(2), 101-117.
- Abhay A. Pakhare, Kunal N. Tiwari and Rajan H. Chile "PID/PD tuning for Steering Control of Autonomous Underwater Vehicle: Genetic Algorithm Approach", Proceedings of National conference on Instrumentation, Control and Signal Processing (ICSP-2013).
Index Terms
Keywords