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Considering the complicated disturbance in underwater circumstance, usually it is difficult to solve the control problem when the robot changes its motion state or it is subject to ocean currents, its performance deteriorates since the fixed set of parameters is no longer valid for the new conditions. Thus, in this paper, an auto-tune PID (Proportional + Integral + Derivative)-like controller based...
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...
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