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

摘要

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.