Optimization of S-surface controller for autonomous underwater vehicle with immune-genetic algorithm  

作　　者：李晔 张磊 万磊 梁霄 

机构地区：[1]School of Naval Architecture, Harbin Engineering University

出　　处：《Journal of Harbin Institute of Technology(New Series)》2008年第3期404-410,共7页哈尔滨工业大学学报（英文版）

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.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.

关 键 词：immune-genetic algorithm autonomous underwater vehicle S-surface controller OPTIMIZATION 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]