| Optimization of S-surface controller for autonomous underwater vehicle with immune-genetic algorithm |
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| 作者姓名： | 李晔 张磊 万磊 梁霄 |
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| 作者单位： | School of Naval Architecture Harbin Engineering University，School of Naval Architecture Harbin Engineering University，School of Naval Architecture Harbin Engineering University，School of Naval Architecture Harbin Engineering University，Harbin 150001 China，Harbin 150001 China，Harbin 150001 China，Harbin 150001 China |
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| 摘 要： | To deduce error and fussy work of manual adjustment of parameters for an S-surface controller in underwater vehicle motion control, the immune-genetic optimization of S-surface controller of an underwater vehicle was proposed. The ability of producing various antibodies for the immune algorithm, the self-adjustment of antibody density, and the antigen immune memory were used to realize the rapid convergence of S-surface controller parameters. It avoided loitering near the local peak value. Deduction of the S-surface controller was given. General process of the immune-genetic algorithm was described and immune-genetic optimization of S-surface controller parameters was discussed. Definitive results were obtained from many simulation experiments and lake experiments, which indicate that the algorithm can get good effect in optimizing the nonlinear motion controller parameters of an underwater vehicle.
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| 关 键 词： | 自治水下车辆 免疫遗传算法 S-表面控制器 最优化 |
Optimization of S-surface controller for autonomous underwater vehicle with immune-genetic algorithm |
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| LI Ye,ZHANG Lei,WAN Lei,LIANG Xiao.Optimization of S-surface controller for autonomous underwater vehicle with immune-genetic algorithm[J].Journal of Harbin Institute of Technology,2008,15(3):404-410. |
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| Authors: | LI Ye ZHANG Lei WAN Lei LIANG Xiao |
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| Affiliation: | School of Naval Architecture, Harbin Engineering University, Harbin 150001, China |
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| Abstract: | To deduce error and fussy work of manual adjustment of parameters for an S-surface controller in underwater vehicle motion control, the immune-genetic optimization of S-surface controller of an underwater vehicle was proposed. The ability of producing various antibodies for the immune algorithm, the self-adjustment of antibody density, and the antigen immune memory were used to realize the rapid convergence of S-surface controller parameters. It avoided loitering near the local peak value. Deduction of the S-surface controller was given. General process of the immune-genetic algorithm was described and immune-genetic optimization of S-surface controller parameters was discussed. Definitive results were obtained from many simulation experiments and lake experiments, which indicate that the algorithm can get good effect in optimizing the nonlinear motion controller parameters of an underwater vehicle. |
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| Keywords: | immune-genetic algorithm autonomous underwater vehicle S-surface controller optimization |
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