|Table of Contents|

Citation:
 Chong Lü,Yong-jie Pang,Ye Li and Lei Zhang.Improved S Surface Controller and Semi-physical Simulation for AUV[J].Journal of Marine Science and Application,2010,(3):301-306.[doi:10.1007/s11804-010-1011-8]
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Improved S Surface Controller and Semi-physical Simulation for AUV

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Title:
Improved S Surface Controller and Semi-physical Simulation for AUV
Author(s):
Chong Lü Yong-jie Pang Ye Li and Lei Zhang
Affilations:
Author(s):
Chong Lü Yong-jie Pang Ye Li and Lei Zhang
State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China
Keywords:
S surface controller AUV MPSO semi-physical simulation
分类号:
-
DOI:
10.1007/s11804-010-1011-8
Abstract:
S surface controllers have been proven to provide effective motion control for an autonomous underwater vehicle (AUV). However, it is difficult to adjust their control parameters manually. Choosing the optimum parameters for the controller of a particular AUV is a significant challenge. To automate the process, a modified particle swarm optimization (MPSO) algorithm was proposed. It was based on immune theory, and used a nonlinear regression strategy for inertia weight to optimize AUV control parameters. A semi-physical simulation system for the AUV was developed as a platform to verify the proposed control method, and its structure was considered. The simulation results indicated that the semi-physical simulation platform was helpful, the optimization algorithm has good local and global searching abilities, and the method can be reliably used for an AUV.

References:

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Memo

Memo:
Supported by the 863 Project under Grant No. 2008AA092301 and the Fundamental Research Foundation of Harbin Engineering University under Grant No. 2007001.
Last Update: 2011-06-22