An Effective Motion. Control Based on 2-DOF PID and ELM for AUV

被引:0
|
作者
Liu, Wenqian [1 ]
Ding, Xin [1 ]
Wan, JunHe [1 ]
Nian, Rui [1 ]
He, Bo [1 ]
Shen, Yue [1 ]
Yan, Tianhong [2 ]
机构
[1] Ocean Univ China, Sch Informat Sci & Engn, Songling Rd 238, Qingdao 266100, Peoples R China
[2] China Jiliang Univ, Sch Mech & Elect Engn, 258 Xueyuan St,Xiasha High Edu Pk, Hangzhou 310018, Zhejiang, Peoples R China
关键词
Autonomous underwater vehicle; the feed-forward 2-DOF PID control; Extreme Learning Machine;
D O I
暂无
中图分类号
U6 [水路运输]; P75 [海洋工程];
学科分类号
0814 ; 081505 ; 0824 ; 082401 ;
摘要
In the complex sea conditions, autonomous underwater vehicle (AUV) need to perform some high-precision tasks, which requires the motion control of AUV have the best command tracking performance, anti-interference ability and robustness. We adopt an effective feed-forward two degree-of-freedom (2-DOF) PID control to ensure the motion control system of AUV have better anti-interference ability and command tracking performance, and use Extreme Learning Machine (ELM) to learn and train corresponding parameters set in order to obtain appropriate parameters quickly and reduces the cumbersome process of artificially adjusting the parameters. The horizontal experiments have been carried out in December 2017 and April 2018 at TuanDao bay, QingDao using own AUV platform, Sailfish.
引用
收藏
页数:4
相关论文
共 50 条
  • [31] A model based 2-DOF fault tolerant control strategy
    Jain, Tushar
    Yame, Joseph J.
    Sauter, Dominique
    [J]. 18TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION, 2010, : 1073 - 1078
  • [32] Control of the 2-DOF underactuated manipulators based on neural network
    Lin, Zhuang
    Zhu, Qidan
    Xing, Zhuoyi
    [J]. WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, 2006, : 2882 - 2885
  • [33] Comparison between Real Time PID and 2-DOF PID Controller for 6-DOF Robot Arm
    Adar, N. G.
    Kozan, R.
    [J]. ACTA PHYSICA POLONICA A, 2016, 130 (01) : 269 - 271
  • [34] DS based 2-DOF PID controller for various integrating processes with time delay
    So, GunBaek
    [J]. ISA TRANSACTIONS, 2024, 153 : 276 - 294
  • [35] 2-DOF PID with Reset Controller for 4-DOF Robot Arm Manipulator
    Shakibjoo, Ali Dokht
    Shakibjoo, Mohammad Dokht
    [J]. 2015 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND INTELLIGENT SYSTEMS (ARIS), 2015,
  • [36] Fractional Order PID Motion control Based on Seeker Optimization Algorithm for AUV
    Wan, Junhe
    Liu, Wenqian
    Ding, Xin
    He, Bo
    Nian, Rui
    Shen, Yue
    Yan, Tianhong
    [J]. OCEANS 2018 MTS/IEEE CHARLESTON, 2018,
  • [37] An Interactive Flight Operation with 2-DOF Motion Platform
    Fukuyama, Riku
    Wakita, Wataru
    [J]. PROCEEDINGS OF 27TH ACM SYMPOSIUM ON VIRTUAL REALITY SOFTWARE AND TECHNOLOGY, VRST 2021, 2021,
  • [38] Teaching learning based optimization algorithm for automatic generation control of power system using 2-DOF PID controller
    Sahu, Rabindra Kumar
    Panda, Sidhartha
    Rout, Umesh Kumar
    Sahoo, Dillip Kumar
    [J]. INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS, 2016, 77 : 287 - 301
  • [39] An optimised 2-DOF IMC-PID-based control scheme for real-time magnetic levitation system
    Pati, Avadh
    Negi, Richa
    [J]. INTERNATIONAL JOURNAL OF AUTOMATION AND CONTROL, 2019, 13 (04) : 413 - 439
  • [40] An optimised 2-DOF IMC-PID-based control scheme for real-time magnetic levitation system
    Pati, Avadh
    Negi, Richa
    [J]. International Journal of Automation and Control, 2019, 13 (04): : 413 - 439