Abstract
S surface controller is proved to be effective in underwater vehicle motion control. But it is difficult to adjust parameters. How to choose optimum control parameters for special underwater vehicle is a important problem for control effect. In order to solve this problem, a modified Particle Swarm Optimization (MPSO) algorithm is proposed to optimize control parameters of S surface controller. It realized rapid convergence of S surface controller parameters and avoided loitering near local peak value. This paper also designed a semi-physical simulation system for the control system of a certain AUV. The total structure and operational principle of this semi-physical simulation system were explained in detail. The 6-DOF mathematic model of AUV moving in underwater space was constructed. Results of simulation reflect the motion of the AUV realistically and can provide important reference for the real underwater experiments.
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© 2011 Springer-Verlag Berlin Heidelberg
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Lv, C., Zhang, X. (2011). Improved S Surface Controller and Semi-physical Simulation for AUV. In: Yang, D. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 133. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25992-0_29
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DOI: https://doi.org/10.1007/978-3-642-25992-0_29
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-25991-3
Online ISBN: 978-3-642-25992-0
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