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Movement Control of Amphibious Robot Using IMC Based PID Controller with Fuzzy Logic Optimization
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For the Amphibious bot movement control, this study provides an Internal Model Control (IMC) tuned PID controller using fuzzy logic optimization method. IMC approach is used to tune the PID controller parameter as per the robot movements for robust control. Fuzzy logic is used to optimize the input error for controlling output. The proposed control approach, which is based on an accurate robot model, resulted, design of the stable and robust control system. The proposed method produces better outcomes than the present methods. It is measured against performance indices. Comparative results show a significant improvement in the system’s overshoot, rising time, and settling time. It is also performing better and better robustness against disturbances.
Keywords
Movement Control, Ambiguous Robot, PID Controller, IMC, Fuzzy Logic, Time Domain Analysis
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