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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics
Mustafa Wassef Hasan
University of Baghdad
Computer Science & IT Electrical & Electronics Engineering

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Journal : Bulletin of Electrical Engineering and Informatics

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Controller design for underwater robotic vehicle based on improved whale optimization algorithm Mustafa Wassef Hasan; Nizar Hadi Abbas
Bulletin of Electrical Engineering and Informatics Vol 10, No 2: April 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v10i2.2288

Abstract

This paper presents the impact of introducing a two-controller on the linearized autonomous underwater vehicle (AUV) for vertical motion control. These controllers are presented to overcome the sensor noise of the AUV control model that effect on the tolerance and stability of the depth motion control. Linear quadratic Gaussian (LQG) controller is cascaded with AUV model to adapt the tolerance and the stability of the system and compared with FOPID established by the improved whale optimization algorithm (IWOA) to identify which controlling method can make the system more harmonize and tolerable. The developed algorithm is based on improving the original WOA by reshaping a specific detail on WOA to earn a warranty that the new IWOA will have values for the update position lower than the identified lower-bound (LB), and upper-bound (UB). Furthermore, the algorithm is examined by a set of test functions that include (unimodal, multimodal and fixed dimension multimodal functions). The privileges of applying IWOA are reducing the executing time and obtaining the semi-optimal objective function as compared with the original WOA algorithm and other popular swarm-intelligence optimization algorithms.
Co-Authors Nizar Hadi Abbas