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Intelligent PID guidance control for AUV path tracking

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Abstract

Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as planning level during the control system using transverse deviation is came up with. Continuous tracking of path expressed by a point sequence can be realized by the law. Firstly, a path tracking control system based on rational behavior model of three layers is designed, mainly satisfying the needs of underactuated AUV. Since there is no need to perform spatially coupled maneuvers, the 3D path tracking control is decoupled into planar 2D path tracking and depth or height tracking separately. Secondly, planar path tracking controller is introduced. For the reason that more attention is paid to comparing with vertical position control, transverse deviation in analytical form is derived. According to the Lyapunov direct theory, control law is designed using discrete PID algorithm whose parameters obey adaptive fuzzy adjustment. Reference heading angle is given as an output of the guidance controller conducted by lateral deviation together with its derivative. For the purpose of improving control quality and facilitating parameter modifying, data normalize modules based on Sigmoid function are applied to input-output data manipulation. Lastly, a sequence of experiments was carried out successfully, including tests in Longfeng lake and at the Yellow sea. In most challenging sea conditions, tracking errors of straight line are below 2 m in general. The results show that AUV is able to compensate the disturbance brought by sea current. The provided test results demonstrate that the designed guidance controller guarantees stably and accurately straight route tracking. Besides, the proposed control system is accessible for continuous comb-shaped path tracking in region searching.

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Authors and Affiliations

  1. National Key Laboratory of Underwater Vehicle, Harbin Engineering University, Harbin, 150001, China

    Ye Li  (李晔), Yan-qing Jiang  (姜言清), Lei-feng Wang  (王磊峰), Jian Cao  (曹建) & Guo-cheng Zhang  (张国成)

Authors
  1. Ye Li  (李晔)
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  2. Yan-qing Jiang  (姜言清)
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  3. Lei-feng Wang  (王磊峰)
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  4. Jian Cao  (曹建)
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  5. Guo-cheng Zhang  (张国成)
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Corresponding author

Correspondence to Yan-qing Jiang  (姜言清).

Additional information

Foundation item: Projects(51179035, 51279221) supported by the National Natural Science Foundation of China; Project(2014M561333) supported by Postdoctoral Science Foundation of China

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Li, Y., Jiang, Yq., Wang, Lf. et al. Intelligent PID guidance control for AUV path tracking. J. Cent. South Univ. 22, 3440–3449 (2015). https://doi.org/10.1007/s11771-015-2884-0

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  • DOI: https://doi.org/10.1007/s11771-015-2884-0

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