Control and simulation of an underwater robot using single neuron PID control based on immune feedback mechanism

摘要

The motion control of the underwater robot is a challenging task. Aiming at the questions of single neuron PID control such as slow learning rate and response, a new control strategy is designed and applied to the motion control of an underwater robot. By referring the immune tuning principle, an immune single neuron PID control method is presented to improve the performance of single neuron PID control. The mathematic model of underwater robot is introduced in the paper. The depth control and yaw control of the robot are simulated by using the immune single neuron PID control method. The results show that the controller has fast response, good adaptive ability and the performance is better than usual single neuron PID control.