Table 6.
Comparison of main simulation results in the ascent and descent processes.
| Direction of Motion |
Depth- Control Strategy |
Controller Parameters Setup |
Mean Depth Steady-State Error (m) |
Settling Time (s) |
|---|---|---|---|---|
| Ascent process |
PID | kp = 260, ki = 80, kd = 50 | 3.5 | 243 |
| ITCS | k1 = 200, k2 = 6, k3 = 10 | 2.7 | 225 | |
| QGA–ITCS | k1 = 183.212, k2 = 12.079, k3 = 25.167 | 2.4 | 214 | |
| GACPSO–ITCS |
k1 = 156.856, k2 = 5.397, k3 = 16.351 |
1.9 | 206 | |
| Descent process |
PID | kp = 8, ki = 1.5, kd = 30 | 3.3 | 262 |
| ITCS | k1 = 180, k2 = 8, k3 = 20 | 2.5 | 236 | |
| QGA–ITCS |
k1 = 156.856, k2 = 5.397, k3 = 16.351 |
2.1 | 227 | |
| GACPSO–ITCS |
k1 = 118.037, k2 = 7.247, k3 = 18.521 |
1.8 | 218 |