Study on the Control of Underwater Plant Based On CMAC-PID and GA

Against a variety of uncertainties and nonlinearities of the underwater plant motion control, this paper proposed a control method of underwater test plant based on CMAC-PID and GA algorithm. This approach combined the advantages of both CMAC neural network feedforward control and PID feedback control to form a parallel control structure, in which PID parameters were optimized via genetic algorithm. The simulation results showed that the genetic algorithm can effectively improve the setting process of PID parameters. Meanwhile, the CMAC-PID combination control has good dynamic characteristics and steady-state accuracy, which, to some extent, can be used for reference to the motion control of underwater test plant.