Research on Cooperative Heading Control of Unmanned Surface and Underwater Vehicle Based on Particle Swarm Fuzzy PID

Historically, underwater vehicles and unmanned surface vehicles were often considered as independent entities in terms of movement, limiting the potential for utilizing the diverse environments to acquire multidimensional information, monitor targets comprehensively, provide assistance in rescue and disaster relief, and manage resources effectively. Therefore, this paper introduces an approach for collaborative control of surface underwater unmanned vehicles and formulates a fuzzy PID controller to effectively solve the difficulties in controlling them. Developing the fuzzy control rule base and membership function requires significant experience and knowledge, resulting in considerable human interference. Therefore, in this study, the fuzzy PID controller's parameters are fine-tuned through the particle swarm optimization algorithm, aiming to minimize the influence of human factors in the design of fuzzy control. Simulation outcomes illustrate that the overshoot of a fuzzy PID controller optimized through PSO algorithm is decreased by 39.56%. Moreover, the response time is slightly enhanced even in the presence of noise interference within the system.