Attitude Control of Autonomous Underwater Vehicle Based on Improved Firefly PID Method

Proportional-integral-derivative (PID) control is widely used as a traditional control strategy, but it needs to set control parameters, and different parameter values will also affect the quality of the control effect. As a new meta-heuristic optimization algorithm, the principle of firefly algorithm is clear, concise and easy to understand, less parameters and easy to implement, and it has been applied in many fields. In terms of controller parameter setting, a method based on firefly algorithm to optimize PID control parameters is proposed to better control AUV motion. By optimizing the firefly algorithm, the search ability of the algorithm is improved. Simulation results show that this method improves the system's adaptability and dynamic characteristics.