Rahmat-Allah Hooshmand, Ali Akbar Nasiri, and Mohammad Ataei
Fish-like robot, yaw angle, PID controller, fuzzy controller
One of the important problems in the design of an underwater robot is its intelligent navigation system. This system autonomously performs the task of the robot guidance and control. The intelligent control system of the fish robot guidance comprises different control sections such as control of motion trajectory angle, yaw angle, orientation control, speed control, depth control, intelligent control of error, etc. In this paper, the control of the yaw angle of a laboratory 4-link fish-like robot guiding it in the horizontal direction is studied. This is in fact part of the navigation control system which guides the robot at a given depth. In this regard, a desired dynamic model describing the under study laboratory 4-link fish-like robot motion with three joints is derived. The model validation is examined by comparing its response and the system response to an experimentally imposed torque. Then, a fuzzy controller is proposed to achieve suitable performance of the step response such as desired steady state error, reduction of the maximum overshoot, and decreasing of the settling time. The desired performances are achieved by applying the complete rule base, data base and suitable membership functions in the fuzzy controller. The simulation results based on the practical considerations and the conventional experimental inputs show the motion trajectory improvement using the proposed control system.
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