Design of AUV Controllers Based on Generalized S-Plane Function and AFSA Optimization

To enhance the control quality of intelligent underwater vehicles, a capacitor-plate model is introduced and generalized S-plane control is put forward in this paper. In accordance with the theory of fuzzy control, the foresaid controller draws on the simple structure of PD control and adopts artificial fish swarm algorithm (AFSA) for the optimization of control parameters. Contrastive studies are carried out between the classical S-plane controller and capacitor-plate controller. The simulation experiments and sea tests showed that the generalized S-plane controller, with nonlinear sigmoid function of better convergence and control parameters optimized by AFSA, promised more admirable control results. The feasibility and effectiveness of the proposed controller are verified.