Implementing Firefly Optimization Inspired Optimized Tuning of Fractional Order (FO) PID Controller for Yaw Angle Control for an Autonomous Underwater Vehicle

The direction and depth of hybrid automated guided vehicles are guided by actuators within the vehicle rather than external controls. These automobiles were modelled after underwater gliders. The goal of this study is to create the proper thrust and rudder angle positions to achieve the required heading. In order to control the above heading, we create a controller with two loops, one of which is under the direction of a PD controller and the other by a FOPID control action. With the aid of We construct a nonlinear dynamical model of the vehicle based on the hydrodynamic forces and coupling between the vehicle and the interior moving mass. In order to control the vehicle’s heading angle around a predetermined path, a fractional order PID controller is designed using the model to examine the stability of the horizontal-plane motion of the object. In comparison to ACO and PSO, the simulated results demonstrate the system’s resilience, performance increase, and reduced error when employing FA-FOPID.