AUV Vertical Plane Control Based on Improved PID Neural Network Algorithm

Authors

Runan Huang, College of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;
Ding Ning, College of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;

Abstract

Abstract: An improved PID neural network controller is designed for the movement control of a small low-speed autonomous underwater vehicle (AUV) in vertical plane, and the global control of the depth and pitch angle of the underwater vehicle in vertical plane is obtained. The AUV simulation control system is built by using REMUS underwater vehicle model in Simulink. The simulation results show that the improved control method with better dynamic performance has solved the original excessive saturation issue, and can adapt to different learning rates and network initial weight,and is of certain reference value to the practical application of the underwater vehicle.

Recommended Citation

Huang, Runan and Ning, Ding (2020) "AUV Vertical Plane Control Based on Improved PID Neural Network Algorithm," Journal of System Simulation: Vol. 32: Iss. 2, Article 9.
DOI: 10.16182/j.issn1004731x.joss.17-9168
Available at: https://dc-china-simulation.researchcommons.org/journal/vol32/iss2/9

First Page

229

Revised Date

2018-11-08

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.17-9168

Last Page

235

CLC

TP273.2

Recommended Citation

Huang Runan, Ding Ning. AUV Vertical Plane Control Based on Improved PID Neural Network Algorithm[J]. Journal of System Simulation, 2020, 32(2): 229-235.

DOI

10.16182/j.issn1004731x.joss.17-9168