کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / نهمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

A Novel Controller Design of Underwater Fish-Like Micro Mobile Robot with PZT Actuator

نویسندگان :

Alireza Ahangarani Farahani¹ Seyed Majid Hosseini²

1- دانشگاه صنعتی مالک اشتر 2- دانشگاه صنعتی مالک اشتر

کلمات کلیدی :

Calculating Control Coefficients،PD Control،Fish-Like Microrobot،Mobile Robot،Piezoelectric Actuator

چکیده :

In this paper, a controller is designed for the underwater fish-like micro mobile robot, in which the control coefficients are calculated online. This robot has two fins that are actuated by two piezoelectric actuators that operate independently. These fins create two degrees of freedom for the robot. In this article, a new method for robot control is presented. In the proposed method, the control coefficients are adjusted online based on the robot conditions. The control coefficient calculation function is extracted using the data base and based on the genetic algorithm. To evaluate the performance of the proposed approach, it has been compared with the PD controller method. In new method, energy consumption is 27% less than the PD method. This is while its error was 1% more than the PD control method.