Genetic-Algorithm-Based Proportional Integral Controller (GAPI) for ROV Steering Control †

Ahsan Tanveer*, Sarvat Mushtaq Ahmad

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

This article presents the design and real-time implementation of an optimal controller for precise steering control of a remotely operated underwater vehicle (ROV). A PI controller is investigated to achieve the desired steering performance. The gain parameters of the controller are tuned using the genetic algorithm (GA). The experimental response corresponding to the step waveform for the GA is obtained. A root-locus-tuned PI controller alongside a simulated-annealing-based PI controller (SAPI) is used to benchmark the response characteristics such as overshoot, peak time, and settling time. The experimental findings indicate that GAPI provides considerably better performance than SAPI and the root-locus-tuned controller.

Original languageEnglish
Article number4
JournalEngineering Proceedings
Volume32
Issue number1
DOIs
StatePublished - 2023

Bibliographical note

Publisher Copyright:
© 2023 by the authors.

Keywords

  • ROV
  • genetic algorithm
  • root-locus
  • simulated annealing
  • steering control
  • underwater vehicle

ASJC Scopus subject areas

  • Biomedical Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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