Experimental Research of Spherical Underwater Robot Based on Fuzzy Sliding Mode Control System

Abstract

Fuzzy sliding mode control is a combination of fuzzy control and sliding mode control. This paper uses the fuzzy sliding mode control system to carry out the experimental study on the motion of the spherical underwater robot to investigate the operation of spherical underwater robot. The experimental results show that the linear motion, heave motion and rotary motion of spherical underwater robot using fuzzy sliding mode control system can achieve stability in static water and run well. The experimental data provides a powerful data reference for the application of multiple control methods.