Performance Analysis of PID and State-Feedback Controller on the Depth Control of a Robotic Fish

Abstract

This paper presents time-domain performance analysis of a proportional integral derivative (PID) and a statefeedback control algorithm on a robotic fish plant. The nonlinear dynamics of the depth of the robotic fish are linearized and approximated as an integrating process with dead-time. The simulated results of robotic fish are then compared with the actual hardware of the robotic fish with various set-points. This paper also presents the design of a graphical user interface in Matlab to test the software and hardware results in a run-time situation. The control algorithms are compared on the basis of transient response and steady-state error. The developed robotic fish have potential of stable swimming under low-cost structure.