Design of a GA-PID adaptive controller for underactuated AUVs performing heading control

This paper proposes the design of a GA-PID adaptive controller for underactuated Autonomous Underwater Vehicles (AUVs), aimed at heading control. Due to limitations in actuators, the AUV must rely on redistributing thrust or moment from existing actuators to change its heading. This research focuses on addressing the challenges of controlling AUVs in complex marine environments. The GA-PID controller combines the advantages of traditional PID controllers with the optimization capabilities of Genetic Algorithms (GA). GA is used to automatically adjust the optimal parameters (Kp, Ki, Kd) of the PID controller, enabling the AUV to adapt to environmental and operational changes. Simulation results demonstrate that the GA-PID controller significantly improves the heading-keeping ability of the AUV compared to traditional PID controllers, especially in complex marine environments. This method opens up potential applications in the development of automatic control systems for AUVs performing complex underwater tasks.