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To address the heading control problem of Autonomous Underwater Vehicles (AUVs), a PID control parameter optimization method is proposed, which integrates Tabu Search and an improved Particle Swarm Optimization (TPSO) algorithm. Initially, an M-function is employed to construct a simulation model for the AUV. To tackle the issues of overshoot and oscillation caused by step input signals, a reference model is utilized to decompose the input signal for tracking purposes. Subsequently, a PID controller is implemented to regulate the heading angle. Considering the limited local search capability of the Particle Swarm Optimization algorithm during parameter tuning, the Tabu Search algorithm is incorporated into the PSO framework. Simulation experiments demonstrate that the designed control system exhibits excellent performance, achieving rapid and effective control of the heading. This approach holds significant reference value for the underwater motion simulation and application of AUVs.

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Design Optimization of AUV Heading Control System Based on Reference Model and TPSO Algorithm

  • 会议论文

  • 发表日期：

    2025年

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  • Angqi Lu,
  • Daiyu Zhang,
  • Daxing Zeng,
  • Chaoming Bao,
  • Zhenwei Liu

摘要

To address the heading control problem of Autonomous Underwater Vehicles (AUVs), a PID control parameter optimization method is proposed, which integrates Tabu Search and an improved Particle Swarm Optimization (TPSO) algorithm. Initially, an M-function is employed to construct a simulation model for the AUV. To tackle the issues of overshoot and oscillation caused by step input signals, a reference model is utilized to decompose the input signal for tracking purposes. Subsequently, a PID controller is implemented to regulate the heading angle. Considering the limited local search capability of the Particle Swarm Optimization algorithm during parameter tuning, the Tabu Search algorithm is incorporated into the PSO framework. Simulation experiments demonstrate that the designed control system exhibits excellent performance, achieving rapid and effective control of the heading. This approach holds significant reference value for the underwater motion simulation and application of AUVs.