Constrained PSO Six-Parameter Fuzzy PID Tuning Method for Balanced Optimization of Depth Tracking Performance in Underwater Vehicles

Description

Depth control of underwater vehicles in engineering applications must simultaneously satisfy requirements for rapid tracking, low overshoot, and actuator constraints. Traditional fuzzy PID tuning often relies on empirical methods, making it difficult to achieve a stable and reproducible equilibrium solution between performance enhancement and control cost. This paper proposes a constrained particle swarm optimization (PSO) method for tuning six-parameter fuzzy PID controllers. By adjusting the b

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