A fuzzy PID control method for the underwater spherical robot

Liwei Shi; Shuxiang Su; Shuxiang Guo; Kun Tang; Shaowu Pan; Yanlin He; Huiming Xing; Zhan Chen; Ping Guo

doi:10.1109/ICMA.2017.8015889

A fuzzy PID control method for the underwater spherical robot

Liwei Shi
, Shuxiang Su
, Shuxiang Guo^*
, Kun Tang
, Shaowu Pan
, Yanlin He
, Huiming Xing
, Zhan Chen
, Ping Guo

^*Corresponding author for this work

School of Medical Science and Engineering

Beijing Institute of Technology
Kagawa University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Citations (Scopus)

Abstract

The motion control of underwater spherical robot is a complicated process, which has the characteristics of high inertia and non-linearity. There are many influencing factors for the underwater spherical robot motion such as ambient temperature and water current, so it is difficult to obtain the real-time kinematic model. Therefore, it is hard for traditional PID to achieve stable motion control of the underwater spherical robot. In this paper, the actual motion control of underwater spherical robot was realized that used fuzzy PID control method. Compared with traditional PID for the underwater spherical robot, fuzzy PID has some advantages, such as good robustness and good dynamic performance. To demonstrate that the fuzzy PID was more suitable to our underwater spherical robot, we carried out some real time experiments. Comparison experimental results demonstrated that the fuzzy PID control method has better dynamic performance than the traditional PID.

Original language	English
Title of host publication	2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	626-631
Number of pages	6
ISBN (Electronic)	9781509067572
DOIs	https://doi.org/10.1109/ICMA.2017.8015889
Publication status	Published - 23 Aug 2017
Event	14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan Duration: 6 Aug 2017 → 9 Aug 2017

Publication series

Name	2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017

Conference

Conference	14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Country/Territory	Japan
City	Takamatsu
Period	6/08/17 → 9/08/17

Keywords

Fuzzy PID Algorithm
Underwater Motion Control
Underwater Spherical Robot

Access to Document

10.1109/ICMA.2017.8015889

Cite this

Shi, L., Su, S., Guo, S., Tang, K., Pan, S., He, Y., Xing, H., Chen, Z., & Guo, P. (2017). A fuzzy PID control method for the underwater spherical robot. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 (pp. 626-631). Article 8015889 (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2017.8015889

@inproceedings{1f52cf5001044bb28960b9bc55dcf0c9,

title = "A fuzzy PID control method for the underwater spherical robot",

abstract = "The motion control of underwater spherical robot is a complicated process, which has the characteristics of high inertia and non-linearity. There are many influencing factors for the underwater spherical robot motion such as ambient temperature and water current, so it is difficult to obtain the real-time kinematic model. Therefore, it is hard for traditional PID to achieve stable motion control of the underwater spherical robot. In this paper, the actual motion control of underwater spherical robot was realized that used fuzzy PID control method. Compared with traditional PID for the underwater spherical robot, fuzzy PID has some advantages, such as good robustness and good dynamic performance. To demonstrate that the fuzzy PID was more suitable to our underwater spherical robot, we carried out some real time experiments. Comparison experimental results demonstrated that the fuzzy PID control method has better dynamic performance than the traditional PID.",

keywords = "Fuzzy PID Algorithm, Underwater Motion Control, Underwater Spherical Robot",

author = "Liwei Shi and Shuxiang Su and Shuxiang Guo and Kun Tang and Shaowu Pan and Yanlin He and Huiming Xing and Zhan Chen and Ping Guo",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 ; Conference date: 06-08-2017 Through 09-08-2017",

year = "2017",

month = aug,

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doi = "10.1109/ICMA.2017.8015889",

language = "English",

series = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",

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address = "United States",

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Shi, L, Su, S, Guo, S, Tang, K, Pan, S, He, Y, Xing, H, Chen, Z & Guo, P 2017, A fuzzy PID control method for the underwater spherical robot. in 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017., 8015889, 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017, Institute of Electrical and Electronics Engineers Inc., pp. 626-631, 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017, Takamatsu, Japan, 6/08/17. https://doi.org/10.1109/ICMA.2017.8015889

A fuzzy PID control method for the underwater spherical robot. / Shi, Liwei; Su, Shuxiang; Guo, Shuxiang et al.
2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 626-631 8015889 (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A fuzzy PID control method for the underwater spherical robot

AU - Shi, Liwei

AU - Su, Shuxiang

AU - Guo, Shuxiang

AU - Tang, Kun

AU - Pan, Shaowu

AU - He, Yanlin

AU - Xing, Huiming

AU - Chen, Zhan

AU - Guo, Ping

PY - 2017/8/23

Y1 - 2017/8/23

N2 - The motion control of underwater spherical robot is a complicated process, which has the characteristics of high inertia and non-linearity. There are many influencing factors for the underwater spherical robot motion such as ambient temperature and water current, so it is difficult to obtain the real-time kinematic model. Therefore, it is hard for traditional PID to achieve stable motion control of the underwater spherical robot. In this paper, the actual motion control of underwater spherical robot was realized that used fuzzy PID control method. Compared with traditional PID for the underwater spherical robot, fuzzy PID has some advantages, such as good robustness and good dynamic performance. To demonstrate that the fuzzy PID was more suitable to our underwater spherical robot, we carried out some real time experiments. Comparison experimental results demonstrated that the fuzzy PID control method has better dynamic performance than the traditional PID.

AB - The motion control of underwater spherical robot is a complicated process, which has the characteristics of high inertia and non-linearity. There are many influencing factors for the underwater spherical robot motion such as ambient temperature and water current, so it is difficult to obtain the real-time kinematic model. Therefore, it is hard for traditional PID to achieve stable motion control of the underwater spherical robot. In this paper, the actual motion control of underwater spherical robot was realized that used fuzzy PID control method. Compared with traditional PID for the underwater spherical robot, fuzzy PID has some advantages, such as good robustness and good dynamic performance. To demonstrate that the fuzzy PID was more suitable to our underwater spherical robot, we carried out some real time experiments. Comparison experimental results demonstrated that the fuzzy PID control method has better dynamic performance than the traditional PID.

KW - Fuzzy PID Algorithm

KW - Underwater Motion Control

KW - Underwater Spherical Robot

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M3 - Conference contribution

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BT - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017

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Shi L, Su S, Guo S, Tang K, Pan S, He Y et al. A fuzzy PID control method for the underwater spherical robot. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 626-631. 8015889. (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017). doi: 10.1109/ICMA.2017.8015889

A fuzzy PID control method for the underwater spherical robot

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Keywords

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