Intelligent hybrid control of piezoelectric actuated micro robot

摘要

In this paper, a piezoelectric micro robot is modelled and simulated based on hybrid fuzzy-based controller operating in a constrained environment (pipe). A mathematical model that represents the dynamic characteristics of micro robot is first presented. Then, the dynamic response of the robot system subjected to different input excitations is investigated. Different types of controllers are integrated into this system via a proportional-integralderivative (PID) controller, the sliding mode controller (SMC) and active force control (AFC) method which incorporates a fuzzy logic (FL) algorithm. The primary objective of the scheme is to ensure accurate trajectory tracking control of the micro robot system is achieved. The performance of the control system under different types of disturbances is evaluated through a rigorous simulation study. The obtained results clearly demonstrate an effective trajectory tracking capability of the worm-like micro robot in spite of the negative effects of the external disturbances.