By Topic

Improved PSO-based S Plane Controller for motion control of underwater vehicle

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Xu-dong Tang ; Dept. of Naval Architecture and Ocean Eng, Harbin Engineering University, 1500011, China ; Yong jie Pang ; He Zhang ; Guo-chun Lu

Based on the analysis of fuzzy control, combined with the form of PID control, the S plane control has been applied. For the default that particle swarm optimization (PSO) presents the phenomenon of precocity and getting in local minima, the basic PSO algorithm is improved. Based on the self-adaptive idea, a concept of dynamic learning factor is introduced. This method could improve the coordination between global and local searching ability and apt to search out global optimum quickly. Another concept of chasten factor is also introduced, the optimizing ability in PSO algorithm which applied in the S plane algorithm in parameter optimization. Finally, the improved PSO algorithm is applied to the S curve motion control of underwater vehicle. The feasibility and advantages of this method are demonstrated by simulation test results.

Published in:

2008 Chinese Control and Decision Conference

Date of Conference:

2-4 July 2008