Motion control research of underwater spherical robot

ABSTRACTUnderwater spherical robot motion control can be used to simulate satellite motion control under weightlessness. In this paper, firstly the motion equation of spherical robot is established by force analysis. Then, to solve the nonlinear and control channel coupling problems, the CMAC-PID control algorithm with neural network decoupling and genetic algorithm optimization is proposed. In the algorithm, CMAC-PID compound control is designed to generate control signals, and neural network decoupler is designed to decouple multi-channel control into single-channel control, and genetic algorithm is adopted to obtain the best PID parameters. The simulation results show that the GA can obtain the appropriate parameters quickly, and the decoupler can adapt to the change of the attitude of the controlled object. Compared with conventional PID control method, the proposed algorithm shows fast dynamic response and high steady-state accuracy, which can be used for reference of neutral buoyancy experimental ob...