Genetic-Algorithm-Based Proportional Integral Controller (GAPI) for ROV Steering Control
Genetic-Algorithm-Based Proportional Integral Controller (GAPI) for ROV Steering Control
This article presents the design and real-time implementation of an optimal controller for precise steering control of a remotely operated underwater vehicle (ROV). A PI controller is investigated to achieve the desired steering performance. The gain parameters of the controller are tuned using the genetic algorithm (GA). The experimental response corresponding to the step waveform for the GA is obtained. A root-locus-tuned PI controller alongside a simulated-annealing-based PI controller (SAPI) is used to benchmark the response characteristics such as overshoot, peak time, and settling time. The experimental findings indicate that GAPI provides considerably better performance than SAPI and the root-locus-tuned controller.
6 pages, 3 figures, presented at the 2nd International Conference on Emerging Trends in Electronic and Telecommunication Engineering (INTERACT), published in Engineering Proceedings 32
- Air University (Islamabad) Pakistan
- King Fahd University of Petroleum and Minerals Saudi Arabia
- Ghulam Ishaq Khan Institute of Engineering Sciences and Technology Pakistan
- Air University Pakistan
Engineering machinery, tools, and implements, ROV, genetic algorithm, FOS: Electrical engineering, electronic engineering, information engineering, simulated annealing, TA213-215, Systems and Control (eess.SY), underwater vehicle, root-locus, Electrical Engineering and Systems Science - Systems and Control, steering control
Engineering machinery, tools, and implements, ROV, genetic algorithm, FOS: Electrical engineering, electronic engineering, information engineering, simulated annealing, TA213-215, Systems and Control (eess.SY), underwater vehicle, root-locus, Electrical Engineering and Systems Science - Systems and Control, steering control
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