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A Fuzzy PID Algorithm for a Novel Miniature Spherical Robots with three-dimensional underwater motion Control

Journal of Bionic Engineering 2020年第5期17卷 959-969页

作者： Liwei Shi Yao Hu Shuxiang Su Shuxiang Guo Huiming Xing Xihuan Hou Yu Liu Zhan Chen Zan Li Debin Xia Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information TechnologySchool of Life ScienceBeijing Institute of TechnologyBeijing 100081China Faculty of Engineering Kagawa University2217-20 HayashichoTakamatsuKagawa 761-0396Japan

We proposed and developed a small bionic amphibious spherical robot system for tasks such as coastal environment monitoring and offshore autonomous search and *** third-generation bionic small amphibious spherical robots have many disadvantages,such as the lack of maneuverability and a small operating *** is difficult to accomplish underwater autonomous motion control with these ***,we proposed a fourth-generation amphibious spherical ***,the amphibious spherical robot developed in this project has a small and compact design,with limited sensors and external sensing *** means that the robot has weak external information collection *** need to make the real time operation of the robot's underwater motion control system more *** this paper,we mainly used a fuzzy Proportional-Integral-Derivative(PID)control algorithm to design an underwater motion control system for a novel ***,we compared PID with fuzzy PID control methods by carrying out experiments on heading and turning bow motions to verify that the fuzzy PID is more robust and exhibits good dynamic *** also carried out experiments on the three-dimensional(3D)motion control to validate the design of the underwater motion control system.

关键词： bionic amphibious spherical robot fuzzy PID control underwater motion control system underwater three-dimensional motion water-jet thruster

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