An Improved PID Method for Trajectory Tracking of Underwater Robots

Aiming at the problem that the traditional PID controller regulation process of underwater robots is complicated in manual tuning, has a lot of repetitive workload, and is difficult to get the optimal parameter combinations, an Improved PID Method for Trajectory Tracking of Underwater Robots is proposed. Firstly, the underwater robot is modeled and simulated to determine the parameters of its dynamic process; the recorded parameters are substituted into the parameter tuning model, and the values of the proportional gain and the desired closed-loop bandwidth parameters are calculated; the phase overrun com- pensation parameters in the PID tuning formula are initialized, and the parameters are tuned in combination with the simulation results; and finally, the optimal parameter configurations are derived. The simulation results show that the improved PID algorithm can make the position vectors of the snorkel converge more quickly, and have smaller overshoot and smaller steady- state error than the traditional PID algorithm.