Energy-Efficient and Actuator-Friendly Control Under Wave Disturbances: Model Reference vs. PID for Thruster Surge

Abstract

This paper presents a comparative analysis between Model Reference Control (MRC) architectures and metaheuristic-optimized PID regulators for the velocity regulation of hydrodynamic propulsion systems. The study specifically addresses operational scenarios characterized by stochastic sensor noise and deterministic wave loads. Beyond standard trajectory tracking metrics, the evaluation criteria explicitly include total control energy expenditure and actuator wear mitigation. Simulation trials utilizing a high-fidelity model of a Blue Robotics T200 thruster (propelling a 2 kg mass) subjected to 8 N sinusoidal disturbances and Gaussian measurement noise were conducted. Numerical results demonstrate that the optimized MRC variant (MRC-R*) achieves the most favorable balance, minimizing control effort and signal variance while preserving tracking stability. The Internal Model Control (IMC) approach yields similar efficiency characteristics. Conversely, while PID controllers provide competitive RMS error reduction, they demand excessive actuation power and exhibit high-frequency control activity, rendering them less viable for energy-constrained applications. Future research will focus on validating these theoretical outcomes via experimental trials in a controlled water tank environment.