Analog Implementation of a Fractional-Order PID Controller for the T200 Thruster Using a Novel Lattice Type Structure

Analog Implementation of a Fractional-Order PID Controller for the T200 Thruster Using a Novel Lattice Type Structure

WoS Article

The T200 thruster is a widely used propulsion system for autonomous underwater vehicles (AUVs); however, achieving high-performance control with low energy consumption remains a challenge due to inherent system nonlinearities and uncertainties. Fractional-order PID (FOPID) controllers offer enhanced flexibility and robustness compared to classical PID structures, making them well-suited for such complex dynamic systems; however, their practical analog realization and algorithm-based parameter optimization remain limited in the existing literature. This paper presents a unified control-hardware co-design framework for the T200 thruster by combining metaheuristic optimization, FOPID control theory, and low-power analog circuit design. Within this framework, a transfer function of the T200 thruster is obtained from experimental input-output data, and the parameters of the FOPID controller are optimized using multiple metaheuristic algorithms to enhance dynamic performance. A novel lattice-type circuit structure is then introduced for the analog implementation of the optimized FOPID controller. Comparative performance evaluation using transient response criteria and a series of statistical analysis methods demonstrates that the Salp Swarm Algorithm provides the most consistent and effective tuning results, yielding a well-damped closed-loop response with zero overshoot, improved transient behavior, and strong robustness against disturbances and parameter variations. SPICE simulations of the proposed lattice-type analog implementation show close agreement with MATLAB-based control results while achieving low power consumption of 22.902 mu W and reliable operation under process, voltage, temperature, and noise variations. These results confirm the feasibility and advantages of algorithm-optimized FOPID controllers for next-generation marine robotic systems in which high-precision control and low power consumption are crucial.

The T200 thruster is a widely used propulsion system for autonomous underwater vehicles (AUVs); however, achieving high-performance control with low energy consumption remains a challenge due to inherent system nonlinearities and uncertainties. Fractional-order PID (FOPID) controllers offer enhanced flexibility and robustness compared to classical PID structures, making them well-suited for such complex dynamic systems; however, their practical analog realization and algorithm-based parameter optimization remain limited in the existing literature. This paper presents a unified control-hardware co-design framework for the T200 thruster by combining metaheuristic optimization, FOPID control theory, and low-power analog circuit design. Within this framework, a transfer function of the T200 thruster is obtained from experimental input-output data, and the parameters of the FOPID controller are optimized using multiple metaheuristic algorithms to enhance dynamic performance. A novel lattice-type circuit structure is then introduced for the analog implementation of the optimized FOPID controller. Comparative performance evaluation using transient response criteria and a series of statistical analysis methods demonstrates that the Salp Swarm Algorithm provides the most consistent and effective tuning results, yielding a well-damped closed-loop response with zero overshoot, improved transient behavior, and strong robustness against disturbances and parameter variations. SPICE simulations of the proposed lattice-type analog implementation show close agreement with MATLAB-based control results while achieving low power consumption of 22.902 mu W and reliable operation under process, voltage, temperature, and noise variations. These results confirm the feasibility and advantages of algorithm-optimized FOPID controllers for next-generation marine robotic systems in which high-precision control and low power consumption are crucial.

Circuits, Circuits and systems, Oscillators, Voltage multipliers, Analog circuits, Filtering, Circuit synthesis, Filters, Capacitors, Feedback, Autonomous underwater vehicles (AUVs), fractional-order PID, optimization algorithms, salp swarm algorithm, statistical analysis, T200 thruster

Circuits, Circuits and systems, Oscillators, Voltage multipliers, Analog circuits, Filtering, Circuit synthesis, Filters, Capacitors, Feedback, Autonomous underwater vehicles (AUVs), fractional-order PID, optimization algorithms, salp swarm algorithm, statistical analysis, T200 thruster

YOKUŞ, Y.; KARTCI, A.; AYTEN, U.; ŠOTNER, R.; KOTON, J.

14.04.2026

IEEE

IEEE Access

14

April

United States of America

59659

59687

29

https://ieeexplore.ieee.org/document/11481075

http://hdl.handle.net/11012/256815