2019 IEEE Underwater Technology (UT) | 2019
Fuzzy PID Motion Control Based on Extended State Observer for AUV
Abstract
This paper proposed a Fuzzy PID (FPID) control system based on Extended State Observer (ESO). In this paper, fuzzy logic control effectively solves the problem of parameter adjustment of AUV. ESO is used to obtain the state of the system, to realize the estimation of the interference inside and outside the system and to compensate the interference of the control system. Genetic Algorithm (GA) is used to optimize the initial parameters of FPID controller, which solves the problem of determining the searching space of parameters scientifically and overcomes the blindness of subjective setting. Simulation results show the superiority of FPID control method based on ESO.