# An improved swarm intelligence algorithms-based nonlinear fractional order-PID controller for a trajectory tracking of underwater vehicles

> Research article (TELKOMNIKA (Telecommunication Computing Electronics and Control), 2020) · cited 17× · AI/ML

**Wikidata**: [openalex:W3046873749](https://www.wikidata.org/wiki/openalex:W3046873749)  
**Source**: https://4ort.xyz/entity/an-improved-swarm-intelligence-algorithms-based-nonlinear-fractional-order-pid-controller-for-a-trajectory-tracking-of-u