Adaptive multimodal PID controller based on RBF neural network for A DSRV

摘要

Dynamic positioning system of deep submergence rescue vehicle using conventional PID control can get a good performance in the fixed ocean current. But it is very difficult to achieve the control requirements in the mutative ocean current. In this paper, a novel control algorithm that is integrated RBF neural network with multimodal PID controller is designed, which can automatically adjust the PID parameters when the deep submergence rescue vehicle suffers disturbances of variational ocean current. Simulation shows that this control method can achieve the quite ideal control effect under the mutative ocean current.