In order to further improve the control precision of Autonomous Underwater Vehicle(AUV),a six-degree-of-freedom fully actuated AUV is modeled and a corresponding Active Disturbance Rejection Controller(ADRC)is developed.Considering that the traditional ADRC requires excessive parameter tuning and necessitates corresponding adjustments as the system operates,in response to this,a novel approach based on Pigeon-Inspired Optimization(PIO)is proposed to optimize the ADRC.Under the same simulation conditions,the control effectiveness of the PIO-ADRC is compared against that of the Pigeon-Inspired Optimized Proportional Integral Derivative(PIO-PID)controller and traditional ADRC.The results indicate that the ADRC optimized with PIO algorithm exhibits smaller overshoot,reduced steady-state error and higher control efficiency.
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