Study on the Control of Fractional-Order PID for Underwater Vehicle Attitude Angle

摘要

Regarding the stability problem of the control of underwater vehicle longitudinal attitude angel, a Fractional-Order Proportional Integral Derivative (FOPID) controller is presented for underwater vehicle attitude angel control system. The integrated product of time and absolute error standard (ITAE) is adopted to optimize the parameters of PID controller readily in term of designing the PID controller. The transfer function of underwater vehicle is chosen as the investigated subject, and simulation experiments of PID and classical PID controllers are carried out. By comparing the control performance with the two different controllers, the PID controller as presented has more satisfactory performance and stronger robustness.