Skip to main content
SpringerLink
Log in

Model-Free PID Controller Based on Grey Wolf Optimizer for Hovering Autonomous Underwater Vehicle Depth Control

  • Conference paper
  • First Online:
InECCE2019

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 632))

Abstract

Traditionally, the wearisome effort is required to tune the PID parameters and always resulting in erroneous system behavior. The objective of the present work paper is to develop a tuning method for model-free PID controller parameters by using Grey Wolf Optimizer (GWO) to control the depth of Hovering Autonomous Underwater Vehicle (HAUV). The speed of HAUV thrusters is controlled by a PID controller where the tuning for three PID parameters is done by using GWO algorithms. Sum Square Error (SSE), percentage overshoot and settling time of the depth response are chosen as the fitness functions. The differential equation of the HAUV system in heave direction is considered with the aim to confirm the design of PID controller. The proposed approach is compared with Sine Cosine Algorithm (SCA). The time response specifications of input tracking of HAUV with the presences of external disturbances, model nonlinearities, buoyancy force, hydrodynamic drag force and added mass on the HAUV system are considered as a control scheme performance while the convergence curve of the fitness function indicates the performance of optimization algorithm. Finally, the suggested tuning method promises a fast depth tracking capability as shown in simulation results.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 259.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 329.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 329.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Aras MSM, Abdullah SS, Shah HNM, Rashid MZA, Aziz MAA (2013) Robust control of adaptive single input fuzzy logic controller for unmanned underwater vehicle. J Theor Appl Inf Technol 57(3):372–379

    Google Scholar 

  2. Song YS, Arshad MR (2017) Robust optimal depth control of hovering autonomous underwater vehicle. In: 2017 IEEE 2nd international conference on automatic control and intelligent systems (I2CACIS 2017). Kota Kinabalu, Sabah, Malaysia, pp 191–195

    Google Scholar 

  3. Hu B, Tian H, Qian J, Xie G, Mo L, Zhang S (2013) A fuzzy-PID method to improve the depth control of AUV. In: Proceeding of 2013 IEEE international conference on mechatronics and automation. Takamatu, Japan, pp 1528–1533

    Google Scholar 

  4. Syahroni N, Seo YB, Choi JW (2008) Depth control of autonomous underwater vehicle based on open control platform. In: Proceedings of the 17th world congress, international Federation of automatic control. Seoul, Korea, pp 3707–3712

    Google Scholar 

  5. Tao C, Wei Z, Jiajia Z, Haomiao Y, Xiaofu L, Yue H (2014) Depth control of AUV using active disturbance rejection controller. In: Proceedings of the 33rd Chinese control conference. Nanjing, China, pp 7948–7952

    Google Scholar 

  6. Aras MSM, Abdullah SS, Othman SY, Sulaiman M, Basar MF, Zambri MKM, Kamarudin MN (2016) Fuzzy logic controller for depth control of underwater remotely operated vehicle. J Theor Appl Inf Technol 91(2):275–288

    Google Scholar 

  7. Mohd Tumari MZ, Zainal Abidin AF, Hussin MSF, Abd Kadir AM, Mohd Aras MS, Ahmad MA (2019) PSO fine-tuned model-free PID controller with derivative filter for depth control of hovering autonomous underwater vehicle. In: Lecture notes in electrical engineering, vol 538. Springer, pp 3–13

    Google Scholar 

  8. Gao D, Cheng J, Yang Q (2016) Depth control for underactuated AUV in vertical plane using optimal internal model controller. In: 2016 28th Chinese control and decision conference (CCDC). Yinchuan, China, pp 5292–5296

    Google Scholar 

  9. Zhang G, Du C, Huang H, Wu H (2016) Nonlinear depth control in under-actuated AUV. In: Proceeding of 2016 IEEE international conference on mechatronics and automation. Harbin, China, pp 2482–2486

    Google Scholar 

  10. Gharesi N, Ebrahimi Z, Forouzandeh A, Arefi MM (2017) Extended state observer-based backstepping control for depth tracking of the underactuated AUV. In: 2017 5th international conference on control, instrumentation, and automation (ICCIA). Shiraz, Iran, pp 354–358

    Google Scholar 

  11. Mohd Aras MS, Abdullah SS, Jaafar HI, Yusof AA, Mohd Tumari MZ, Yan HG (2019) Optimization of single input fuzzy logic controller using PSO for unmanned underwater vehicle. In: Lecture notes in electrical engineering, vol 538. Springer, pp 15–26

    Google Scholar 

  12. Mohd Tumari MZ, Shabudin L, Zawawi MA, Ahmad Shah LH (2013) Active sway control of a gantry crane using hybrid input shaping and PID control schemes. In: IOP conference series: materials science and engineering, vol 50(1), p 012029

    Google Scholar 

  13. Mohd Tumari MZ, Saealal MS, Rashid WNA, Saat S, Nasir MA (2017) The vehicle steer by wire control system by implementing PID controller. J Telecommun, Electron Comput Eng (JTEC) 9(3–2):43–47

    Google Scholar 

  14. Abdul Shukor NS, Ahmad MA, Mohd Tumari MZ (2017) Data-driven PID tuning based on safe experimentation dynamics for control of Liquid Slosh. In: IEEE 8th control and system graduate research colloquium (ICSGRC), Aug 4–5. Shah Alam, Malaysia, pp 62–66

    Google Scholar 

  15. Mirjalili S, Mirjalili SM, Lewis A (2014) Grey wolf optimizer. Adv Eng Softw 69:46–61

    Article  Google Scholar 

  16. Rezaei N, Uddin MN, Amin IK, Othman ML, Abidin IZ (2018) Grey wolf optimization based improved protection of wind power generation systems. In: IEEE industry applications society annual meeting (IAS), pp 1–8

    Google Scholar 

  17. Yıldız BS, Yıldız AR (2018) Comparison of grey wolf, whale, water cycle, ant lion and sine-cosine algorithms for the optimization of a vehicle engine connecting rod. Mater Test 60(3):311–315

    Article  Google Scholar 

  18. Radmanesh M, Kumar M, Sarim M (2018) Grey Wolf optimization based sense and avoid algorithm in a Bayesian framework for multiple UAV path planning in an uncertain environment. Aerosp Sci Technol 77:168–179

    Article  Google Scholar 

  19. Fossen TI (1991) Nonlinear modeling and control of underwater vehicles. Ph.D. thesis, Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim

    Google Scholar 

  20. Kim J, Joe H, Yu SC, Lee JS, Kim M (2016) Time-delay controller design for position control of autonomous underwater vehicle under disturbances. IEEE Trans Industr Electron 63(2):1052–1061

    Article  Google Scholar 

  21. Jaafar HI, Mohamed Z, Zainal Abidin AF, Ab Ghani Z (2012) PSO-tuned PID controller for a nonlinear gantry crane system. In: 2012 IEEE international conference on control system, computing and engineering, Nov 23–25. Penang, Malaysia, pp 515–519

    Google Scholar 

  22. Mirjalili S (2016) SCA: a sine cosine algorithm for solving optimization problems. Knowl-Based Syst 96:120–133

    Article  Google Scholar 

Download references

Acknowledgements

This work was funded by Universiti Teknikal Malaysia Melaka under research grant PJP/2018/FTK(10B)/S01610.

Author information

Authors and Affiliations

  1. Centre for Robotics and Industrial Automation, Fakulti Teknologi Kejuruteraan Elektrik & Elektronik, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100, Durian Tunggal, Melaka, Malaysia

    Mohd Zaidi Mohd Tumari & Amar Faiz Zainal Abidin

  2. Fakulti Kejuruteraan Mekanikal, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100, Durian Tunggal, Melaka, Malaysia

    Ahmad Anas Yusof

  3. Fakulti Kejuruteraan Elektrik, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100, Durian Tunggal, Melaka, Malaysia

    Mohd Shahrieel Mohd Aras

  4. Faculty of Electrical and Electronics, Universiti Malaysia Pahang, 26600, Pekan, Pahang, Malaysia

    Nik Mohd Zaitul Akmal Mustapha & Mohd Ashraf Ahmad

Authors
  1. Mohd Zaidi Mohd Tumari
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Amar Faiz Zainal Abidin
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Ahmad Anas Yusof
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Mohd Shahrieel Mohd Aras
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Nik Mohd Zaitul Akmal Mustapha
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Mohd Ashraf Ahmad
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Mohd Zaidi Mohd Tumari .

Editor information

Editors and Affiliations

  1. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Ahmad Nor Kasruddin Nasir

  2. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Mohd Ashraf Ahmad

  3. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Muhammad Sharfi Najib

  4. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Yasmin Abdul Wahab

  5. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Nur Aqilah Othman

  6. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Nor Maniha Abd Ghani

  7. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Addie Irawan

  8. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Sabira Khatun

  9. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Raja Mohd Taufika Raja Ismail

  10. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Mohd Mawardi Saari

  11. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Mohd Razali Daud

  12. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Ahmad Afif Mohd Faudzi

Rights and permissions

Reprints and permissions

Copyright information

© 2020 Springer Nature Singapore Pte Ltd.

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Tumari, M.Z.M., Zainal Abidin, A.F., Yusof, A.A., Mohd Aras, M.S., Mustapha, N.M.Z.A., Ahmad, M.A. (2020). Model-Free PID Controller Based on Grey Wolf Optimizer for Hovering Autonomous Underwater Vehicle Depth Control. In: Kasruddin Nasir, A.N., et al. InECCE2019. Lecture Notes in Electrical Engineering, vol 632. Springer, Singapore. https://doi.org/10.1007/978-981-15-2317-5_3

Download citation

  • DOI: https://doi.org/10.1007/978-981-15-2317-5_3

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-15-2316-8

  • Online ISBN: 978-981-15-2317-5

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation