Enhancing Adaptability and Performance of Autonomous Underwater Vehicles through PID-Supported Evolvable Hardware

This work addresses the design of an Autonomous Underwater Vehicle (AUV) which utilizes a Proportional-Integrative-Derivative (PID) setup supported by evolvable hardware which provides numerous advantages. Evolvable hardware serves as a valuable aid for expediting parameter tuning in PID controllers. PID controllers are special due to their ability to maintain the desired values at a set point using proportional, integrative and derivative actions. The dynamic and unpredictable nature of AUV environments calls for adaptability, a quality enhanced by evolvable hardware. This technology empowers the PID controller to optimize its parameters in response to changing conditions dynamically, ensuring optimal performance in real-time. Moreover, evolvable hardware facilitates self-optimization, enabling automatic parameter adjustments based on predefined performance criteria. In the face of hardware or sensing system faults, the PID controller equipped with evolvable hardware demonstrates fault tolerance by reconfiguring itself