Research on AUV Attitude Control Based on SSA-Fuzzy PID
In order to improve the attitude control of autonomous underwater vehicles(AUV)with high precision and stability,an attitude controller combining sparrow search algorithm(SSA)and fuzzy PID control was proposed.The SSA is used to optimize the parameters of the fuzzy PID controller,and the optimized model is applied in the feedback compensation of the algorithm,which effec-tively solves the problem that the fuzzy PID control is overly dependent on experience and difficult to deal with complex underwater conditions.The simulation results show that the SSA-fuzzy PID controller has better response speed and anti-interference ability than traditional fuzzy PID controllers in attitude adjustment of AUV,and it effectively improves the attitude control performance of AUV.After the practical application verification,the controller can quickly converge to the desired attitude and maintain stability under com-plex working conditions.
万方数据
维普
