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1. A fuzzy PID control method for the underwater spherical robot

Shi, Liwei (1, 2); Su, Shuxiang (1, 2); Guo, Shuxiang (1, 2, 3); Tang, Kun (1, 2); Pan, Shaowu (1, 2); He, Yanlin (1, 2);
Xing, Huiming (1, 2); Chen, Zhan (1, 2); Guo, Ping (1, 2)
Source: 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017, p 626-631, August 23,
2017, 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017; ISBN-13: 9781509067572;
DOI: 10.1109/ICMA.2017.8015889; Article number: 8015889; Conference: 14th IEEE International Conference on
Mechatronics and Automation, ICMA 2017, August 6, 2017 - August 9, 2017; Publisher: Institute of Electrical and
Electronics Engineers Inc.
Author affiliation: (1) Key Laboratory of Convergence Medical Engineering System and Healthcare Technology,
Ministry of Industry and Information Technology, School of Life Science, Beijing Institute of Technology, No.5,
Zhongguancun South Street, Haidian District; 100081, China (2) Key Laboratory of Biomimetic Robots and Systems,
Ministry of Education, Beijing Institute of Technology, No.5,Zhongguancun South Street, Haidian District, Beijing;
100081, China (3) Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, Japan
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. © 2017 IEEE. (29 refs)
Main heading: Motion control
Controlled terms: Kinematics - Robots - Spheres - Three term control systems
Uncontrolled terms: Dynamic performance - Fuzzy - pid controls - Fuzzy PID algorithm - Fuzzy-PID - Real time
kinematic - Real-time experiment - Spherical robots - Water currents
Classification Code: 731 Automatic Control Principles and ApplicationsAutomatic Control Principles and Applications
- 931.1 MechanicsMechanics
Database: Compendex
Compilation and indexing terms, Copyright 2018 Elsevier Inc.
Data Provider: Engineering Village

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