A Fuzzy PID Algorithm for a Novel Miniature Spherical Robots with Three-dimensional Underwater Motion Control
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Journal of Bionic Engineering http://www.springer.com/journal/42235
A Fuzzy PID Algorithm for a Novel Miniature Spherical Robots with Three-dimensional Underwater Motion Control Liwei Shi1*, Yao Hu1, Shuxiang Su1, Shuxiang Guo1,2, Huiming Xing1, Xihuan Hou1, Yu Liu1, Zhan Chen1, Zan Li1, Debin Xia1 1. Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, the Ministry of Industry and Information Technology, School of Life Science, Beijing Institute of Technology, Beijing 100081, China 2. Faculty of Engineering, Kagawa University, 2217-20 Hayashicho, Takamatsu, Kagawa 761-0396, Japan
Abstract We proposed and developed a small bionic amphibious spherical robot system for tasks such as coastal environment monitoring and offshore autonomous search and rescue. Our third-generation bionic small amphibious spherical robots have many disadvantages, such as the lack of maneuverability and a small operating range. It is difficult to accomplish underwater autonomous motion control with these robots. Therefore, we proposed a fourth-generation amphibious spherical robot. However, the amphibious spherical robot developed in this project has a small and compact design, with limited sensors and external sensing options. This means that the robot has weak external information collection capabilities. We need to make the real time operation of the robot’s underwater motion control system more reliable. In this paper, we mainly used a fuzzy Proportional-Integral-Derivative (PID) control algorithm to design an underwater motion control system for a novel robot. Moreover, 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 performance. We also carried out experiments on the three-dimensional (3D) motion control to validate the design of the underwater motion control system. Keywords: bionic amphibious spherical robot, fuzzy PID control, underwater motion control system, underwater three-dimensional motion, water-jet thruster Copyright © Jilin University 2020.
1 Introduction Amphibious robots have developed rapidly since first appearing. Such robots can be used to accomplish many types of missions, such as maritime search and rescue, monitoring of coastal transitional and marine biological environments, and long-term monitoring of marine organisms[1]]. To accomplish a variety of missions, excellent motion control is required for these robots[2–4]. The motion control of amphibious robots requires very wide-ranging knowledge, which is the key to the multidisciplinary research necessary for developing this type of robot technology. For example, dynamics calculations, path planning, optimal control, information fusion, vision, communication and navigation skills are required. The main difficulty with respect to the underwater motion control of amphibious robots is that the robot works underwater, where disturbances in the water and the influence of various uncertainties *Corresponding
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