Fuzzy PID algorithm-based motion control for the spherical amphibious robot

Author

Jian Guo ; Guoqiang Wu ; Shuxiang Guo

Author_Institution

Tianjin Key Lab. for Control Theor. & Applic. in Complicated Syst. & Biomed. Robot Lab., Tianjin Univ. of Technol., Tianjin, China

fYear

2015

fDate

2-5 Aug. 2015

Firstpage

1583

Lastpage

1588

Abstract

Fuzzy control and PID control are often used in control area. However, a single Fuzzy control or PID control can not satisfy the need of the rising complexity and precision of control systems. Considering the disturbance in amphibious spherical robot, it is difficult to solve the control problem for a complex system of an amphibious spherical robot. This paper deeply analyzed the advantages and the disadvantages of Fuzzy control and PID control, and proposed a new Fuzzy PID control combined Fuzzy control and PID control. The simulation results show that the method of Fuzzy PID can effectively reduce the overshoot of the control system, accelerate the response speed, and shorten the adjustment time, In this way, The system can reduce the shock of amphibious spherical robot, and improve the stability, thus, the method can enhance the dynamic performance of the amphibious spherical robot.

Keywords

fuzzy control; large-scale systems; mobile robots; motion control; robot dynamics; stability; three-term control; amphibious spherical robot; complex system; control problem; control system; dynamic performance; fuzzy PID algorithm-based motion control; fuzzy PID control; single fuzzy control; spherical amphibious robot; stability; Fuzzy control; Legged locomotion; Niobium; PD control; Process control; Amphibious spherical robot; Dynamic performance; Fuzzy PID control; PID control;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2015 IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4799-7097-1

Type

conf

DOI

10.1109/ICMA.2015.7237721

Filename

7237721