LAUSR

ABSTRACT Liu, D. and Lu, X., 2019. Design of high precision intelligent controller for ocean robot. In: Hoang, A.T. and Aqeel Ashraf, M. (eds.), Research, Monitoring, and Engineering of Coastal, Port, and Marine Systems. Journal of Coastal Research, Special Issue No. 97, pp. 15–22. Aiming at the problems of long control time and large error in traditional intelligent controller of ocean robot, a high precision intelligent controller of ocean robot based on improved particle swarm optimization is designed. This paper studies the principle of PID fuzzy simulation, uses PI fuzzy simulation to initialize the fuzzy controller, and then uses the improved particle swarm optimization algorithm to optimize the weight of the fuzzy rules and the quantitative proportional factor. At the same time, the design process and algorithm program of the fuzzy controller are given. Typical control functions are used to test the performance of the fuzzy controller. The simulation results show that the design method of fuzzy controller based on improved particle swarm optimization is feasible for ocean robots, and has certain guiding significance for the research of ocean robots' manipulation and adaptive control.