Research on anti-interference of ROV based on particle swarm optimization fuzzy PID

摘要

The disturbance of water flow to the remotely operated vehicle (ROV) is still a challenging problem, especially when the robot grabs and moves. This paper presents an anti-interference control method of particle swarm optimization (PSO) fuzzy PID. In the control process, the fuzzy PID controller adjusts the PID parameters online according to the actual situation of the system state. Experimental and simulation results show that the anti-interference control based on PSO fuzzy PID is more adaptive, robust and anti-interference than PID control and fuzzy PID control. This method can also be extended to other applications.