Study on a Novel Fuzzy PID Control System for the Ellipsoidal Underwater Robot

Xueting Liu1; Shuxiang Guo1,2; Chunying Li1; Qirong Lei1; Jinglei Nie1

10.1109/ICMA61710.2024.10633171

2024-08-07

2152-7431

979-8-3503-8808-4

2024 IEEE International Conference on Mechatronics and Automation (ICMA)

4-7 Aug. 2024

Tianjin, China

Autonomous Underwater Vehicles (AUVs) have gained popularity for their exceptional maneuverability and versatility in marine environments. However, conventional PID methods often fail to achieve precise control in complex environments, as they lack accuracy in nonlinear systems. This paper developed a fuzzy PID control system for the Ellipsoidal Underwater Robot (EUR) to improve its stability and precision. Firstly, the structure and motion characteristics of the EUR were introduced. Then, the principles of the fuzzy PID control were analyzed and implemented to the EUR. Through simulations and underwater experiments, the effectiveness of the control system was evaluated and the results highlighted the significant improvement in motion stability and control accuracy achieved by the fuzzy PID control algorithm. This paper provided valuable insights and methodologies for the development of control systems in underwater robots.

第一

1.The Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China
2.The Aerospace Center Hospital, School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China

Xueting Liu,Shuxiang Guo,Chunying Li,et al. Study on a Novel Fuzzy PID Control System for the Ellipsoidal Underwater Robot[C],2024.