PSO fine-tuned model-free PID controller with derivative filter for depth control of hovering autonomous underwater vehicle
The tuning of PID controller by classical technique is a monotonous job and may results in inaccurate system response. This paper proposes investigations into the development of a model-free PID controller with derivative filter (PIDF) parameter tuning method by using Particle Swarm Optimization (PS...
| Main Authors: | , , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
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Springer
2019
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| Online Access: | http://umpir.ump.edu.my/id/eprint/24846/ http://umpir.ump.edu.my/id/eprint/24846/1/PSO%20Fine-Tuned%20Model-Free%20PID%20Controller%20with%20Derivative%20Filter%20for%20Depth.pdf |
| _version_ | 1848822137903644672 |
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| author | Mohd Zaidi, Mohd Tumari Amar Faiz, Zainal Abidin Mohamed Saiful, Firdaus Hussin Ahmad Muzaffar, Abd Kadir Mohd Shahrieel, Mohd Aras Mohd Ashraf, Ahmad |
| author_facet | Mohd Zaidi, Mohd Tumari Amar Faiz, Zainal Abidin Mohamed Saiful, Firdaus Hussin Ahmad Muzaffar, Abd Kadir Mohd Shahrieel, Mohd Aras Mohd Ashraf, Ahmad |
| author_sort | Mohd Zaidi, Mohd Tumari |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | The tuning of PID controller by classical technique is a monotonous job and may results in inaccurate system response. This paper proposes investigations into the development of a model-free PID controller with derivative filter (PIDF) parameter tuning method by using Particle Swarm Optimization (PSO) for depth control of Hovering Autonomous Underwater Vehicle (HAUV). PIDF controller is developed to control the speed of th1usters where 4 PIDF parameters are fine-tuned using PSO algorithms and Sum Absolute Error (SAE) and Sum Square En·or (SSE) are chosen as it fitness functions. In order to confirm the design of control scheme, one degree of freedom nonlinear equation of the HAUV system in heave direction is considered. Supremacy of the proposed approach is shown by comparing the results with PID Tuner in Simulink/MATLAB. The performances of the control schemes are accessed in terms of time response specifications of depth tracking capability with the absences of added mass, hydrodynamic drag force, buoyancy force, model nonlinearities, and external disturbances on the HAUV system. Finally, it is seen from the simulation results that the proposed control technique guarantees a fast depth tracking capability. |
| first_indexed | 2025-11-15T02:36:28Z |
| format | Conference or Workshop Item |
| id | ump-24846 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T02:36:28Z |
| publishDate | 2019 |
| publisher | Springer |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-248462019-09-03T03:01:44Z http://umpir.ump.edu.my/id/eprint/24846/ PSO fine-tuned model-free PID controller with derivative filter for depth control of hovering autonomous underwater vehicle Mohd Zaidi, Mohd Tumari Amar Faiz, Zainal Abidin Mohamed Saiful, Firdaus Hussin Ahmad Muzaffar, Abd Kadir Mohd Shahrieel, Mohd Aras Mohd Ashraf, Ahmad TK Electrical engineering. Electronics Nuclear engineering The tuning of PID controller by classical technique is a monotonous job and may results in inaccurate system response. This paper proposes investigations into the development of a model-free PID controller with derivative filter (PIDF) parameter tuning method by using Particle Swarm Optimization (PSO) for depth control of Hovering Autonomous Underwater Vehicle (HAUV). PIDF controller is developed to control the speed of th1usters where 4 PIDF parameters are fine-tuned using PSO algorithms and Sum Absolute Error (SAE) and Sum Square En·or (SSE) are chosen as it fitness functions. In order to confirm the design of control scheme, one degree of freedom nonlinear equation of the HAUV system in heave direction is considered. Supremacy of the proposed approach is shown by comparing the results with PID Tuner in Simulink/MATLAB. The performances of the control schemes are accessed in terms of time response specifications of depth tracking capability with the absences of added mass, hydrodynamic drag force, buoyancy force, model nonlinearities, and external disturbances on the HAUV system. Finally, it is seen from the simulation results that the proposed control technique guarantees a fast depth tracking capability. Springer 2019 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/24846/1/PSO%20Fine-Tuned%20Model-Free%20PID%20Controller%20with%20Derivative%20Filter%20for%20Depth.pdf Mohd Zaidi, Mohd Tumari and Amar Faiz, Zainal Abidin and Mohamed Saiful, Firdaus Hussin and Ahmad Muzaffar, Abd Kadir and Mohd Shahrieel, Mohd Aras and Mohd Ashraf, Ahmad (2019) PSO fine-tuned model-free PID controller with derivative filter for depth control of hovering autonomous underwater vehicle. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 , 27-28 September 2018 , Universiti Malaysia Pahang. pp. 3-13., 538. ISBN 978-981-13-3708-6 (Published) https://doi.org/10.1007/978-981-13-3708-6_1 DOI: https://doi.org/10.1007/978-981-13-3708-6_1 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd Zaidi, Mohd Tumari Amar Faiz, Zainal Abidin Mohamed Saiful, Firdaus Hussin Ahmad Muzaffar, Abd Kadir Mohd Shahrieel, Mohd Aras Mohd Ashraf, Ahmad PSO fine-tuned model-free PID controller with derivative filter for depth control of hovering autonomous underwater vehicle |
| title | PSO fine-tuned model-free PID controller with derivative filter for depth control of hovering autonomous underwater vehicle |
| title_full | PSO fine-tuned model-free PID controller with derivative filter for depth control of hovering autonomous underwater vehicle |
| title_fullStr | PSO fine-tuned model-free PID controller with derivative filter for depth control of hovering autonomous underwater vehicle |
| title_full_unstemmed | PSO fine-tuned model-free PID controller with derivative filter for depth control of hovering autonomous underwater vehicle |
| title_short | PSO fine-tuned model-free PID controller with derivative filter for depth control of hovering autonomous underwater vehicle |
| title_sort | pso fine-tuned model-free pid controller with derivative filter for depth control of hovering autonomous underwater vehicle |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/24846/ http://umpir.ump.edu.my/id/eprint/24846/ http://umpir.ump.edu.my/id/eprint/24846/ http://umpir.ump.edu.my/id/eprint/24846/1/PSO%20Fine-Tuned%20Model-Free%20PID%20Controller%20with%20Derivative%20Filter%20for%20Depth.pdf |