A fuzzy-PID method to improve the depth control of AUV

Abstract

With the rapid development of science and technology, the world attaches importance to the development of marine resources increasingly. The development of underwater robots has become the main focus of research in various countries. The research and development of small AUV was relatively less in China. In this paper, it took Raider as the carrier which had attended the 2012 international underwater robot competition (IAUVC). This paper also concluded the fuzzy self-adaption PID control process by analyzing the advantages and disadvantages of PID control algorithm and fuzzy algorithm. Through the simulation of fuzzy self-adaptive PID control and the PID control, this paper got that the step curve of the fuzzy adaptive PID control had a smaller overshoot, higher steady-state accuracy and less time to adjust, which could be said that the control effect based on the simulation was ideal.