Design and Implementation of Submarine Cable Way-points Tracking Control Based on Single Neuron Adaptive PID

Due to the complex work environment and open frame structure, it is difficult to accurately establish and implement the model and parameters of ROV. Therefore, ROV is suitable for adaptive controller with simple structure and can meet the change of parameters. The single neuron adaptive PID controller has simple structure, self-adaptability and strong robustness. It can learn and adjust itself online in the working process. In this paper, a single neuron adaptive PID controller is proposed to realize multi-path point tracking control. In order to verify the effectiveness and practicability of the proposed method, two tracking control experiments were carried out in a pool using a working class ROV. The experimental results verify the effectiveness of this method.