GA and RBFNN based PID for altitude-depth control of the multirotor Hybrid Aerial Underwater Vehicles
Abstract Multirotor Hybrid aerial underwater vehicle (HAUV) is the vehicle which could operate both in air and underwater powered by multi-rotors. The water-air trans-domain process is very changeling for the change of the floatage and added mass and ‘ground effect’. This paper researched on the eff...
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Published in | Journal of physics. Conference series Vol. 2239; no. 1; pp. 12005 - 12011 |
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Main Authors | , , , , , |
Format | Journal Article |
Language | English |
Published |
Bristol
IOP Publishing
01.04.2022
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Subjects | |
Online Access | Get full text |
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Summary: | Abstract
Multirotor Hybrid aerial underwater vehicle (HAUV) is the vehicle which could operate both in air and underwater powered by multi-rotors. The water-air trans-domain process is very changeling for the change of the floatage and added mass and ‘ground effect’. This paper researched on the effect of the intelligent algorithms on the trans-media control. And the genetic algorithm (GA) based and radial basis function (RBFNN) based proportional-integral-derivative (PID) controllers are developed for the trans-domain process. Then simulations and conclusions are made for these two controllers. It shows that the GA based PID controller is suitable for the trans-domain process. The RBFNN based PID controller could even do better work with the repeated optimized PID parameters value of GA. But one must pay attention to that the RBFNN-PID is very sensitive with the initial PID values. The initial values of PID parameters must be repeated optimized with GA to guarantee the better effect of the RBFNN-PID. |
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ISSN: | 1742-6588 1742-6596 |
DOI: | 10.1088/1742-6596/2239/1/012005 |