Research on UUV path following control parameter tuning based on improved fish swarm algorithm

DOI:	10.11809/bqzbgcxb2023.11.016
Keywords:	unmanned underwater vehicle (UUV); path following; S plane control; artificial fish swarm algorithm; parameter tuning
Abstract:	Aiming at the application of the optimization algorithm in the parameter tuning of the plane path following controller of unmanned underwater vehicle, the artificial fish swarm algorithm is improved by methods such as seizure behavior, adaptive step, and vision with attenuation factor.These methods are beneficial to speed up the convergence in the later iteration and jump out of the local optimum. The five control parameters of the S plane forward speed controller and the S plane heading controller are optimized and tuned by the improved fish swarm algorithm. The integral term is introduced into the traditional S plane controller to improve the performance of the controller. After simulation and experimental analysis, the improved fish swarm algorithm has a faster convergence speed. Its ability to jump out of the local optimum is significantly enhanced. The index of the S plane path following controller using the parameters after tuning is reduced by 96% compared with that before tuning. The feasibility and effectiveness of the improved fish swarm algorithm in UUV plane path following control parameters tuning are verified in the underwater physical experiment.
Issue:	Vol. 44 No. 11 (2023)
Published:	2023-11-28
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