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
N1 - Publisher Copyright:
© 2017 IEEE.
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
UR - https://www.scopus.com/pages/publications/85030314146
U2 - 10.1109/ICMA.2017.8015889
DO - 10.1109/ICMA.2017.8015889
M3 - Conference contribution
AN - SCOPUS:85030314146
T3 - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
SP - 626
EP - 631
BT - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Y2 - 6 August 2017 through 9 August 2017
ER -