S plane control based on parameters optimization with simulated annealing for underwater vehicle

Abstract

Nonlinearity of underwater vehicles(UVs) and complexity of working environments make the precise control of AUVs difficult for some of the intelligent operations. Based on the analysis of fuzzy control and combined with the form of PID control, S plane control is a simple and effective method, but parameters must be manually set for its controller. Improved simulated annealing algorithm is introduced to S plane control method to optimize the controller's parameters automatically. The feasibility and advantages of the algorithm has been demonstrated by simulation results.