Abstract
Considering the complicated disturbance in amphibious circumstance, usually it is difficult to solve the control problem for a complex system of an amphibious robot. This paper proposes a neutral network PID controller which has a great advantage on processing online for an amphibious spherical robot due to their nonlinear dynamics. We overcome the difficulties by combining the neutral network method and traditional PID control to reach the goal of tracking online fast. The stability of our controller is analyzed according to the Lyapunov method. The performance of the proposed controller is investigated in simulation. The controller can be easily realized in hardware as for its simple structure. The linear velocity of the spherical robot can be controlled to precisely track any desired trajectory in robot-fixed coordinate system. The effectiveness of the controller is verified by simulation results based on neutral network PID. It realizes a better control on spherical amphibious robot by heading experiments in water.
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