Fractional Order PID Motion control Based on Seeker Optimization Algorithm for AUV

In order to improve the performance of motion control for autonomous underwater vehicle (AUV), a Fractional Order PID (FOPID) strategy is proposed. It is an extension of the classic PID controller, which enhances the system control performance due to increased two tuning parameters. The Seeker Optimization Algorithm (SOA) is employed to tune coefficients of FOPID controller. Simulation and experiment results verify that the FOPID strategy allow better control of steady-state error and overshoot. The SOA is efficient to find the optimal coefficients of FOPID controller.