Design of PID Controller with Genetic Algorithm to Control the Speed of Remotely Operated Underwater Vehicle

Abstract

The remotely operated vehicle, abbreviated as ROV, is a group of underwater vehicles that are made of various types and used for various applications. On the other hand, the non-linear dynamic model and time-varying system, the existence of uncertain parameters in the model, and the presence of uncertain environmental disturbances are among the challenges we face when controlling the submarine robot, so designing a suitable controller through which the submarine robot can It is very important to reach the set speed. Normally, the determination of hydrodynamic coefficients of the model is done by advanced laboratory equipment, but due to its high cost, the computational fluid dynamics technique can be used to obtain hydrodynamic coefficients. In this thesis, a control structure is proposed that can properly control the speed of the remotely operated vehicle by using the PID controller along with the genetic optimization algorithm.

Keywords: remotely operated vehicle, proportional control - integrator - derivative - optimization, genetic algorithm