An analysis of homeostatic motion control system for a hybrid-driven underwater glider

摘要

This paper presents an analysis of homeostaticcontroller, which controls the motion of a hybrid-drivenunderwater glider. The homeostatic controller is inspired froma biological process known as homeostasis, which maintains astable state in the face of massively dynamics conditions.Within a biological context, organism homeostasis is anemergent property of the interactions between nervous,endocrine and immune system. Artificially these three systemsare presented as Artificial Neural Network (ANN), ArtificialEndocrine System (AES) and Artificial Immune System (AIS).The ANN is designed as the controller backbone, the AES isdesigned as the weight tuner, and the AIS is designed as theoptimizer of the control system. The design objective is toobtain better control performance of the motion control systemwhich includes the disturbance from the water currents. Wehave simulated the algorithm by using MatlabTM, and theresults demonstrated that the homeostatic controller reducedthe cost function of the control system and produced bettercontrol performance than the neuroendocrine controller.