Control Analysis of a Miniaturized Worm-Inspired Robot Using FOPID and Fuzzy PID for Bio-Inspired Locomotion

Abstract

In this paper, the design and control analysis of a lightweight, miniaturized worm-inspired robot actuated by 8 mini coreless DC motors are presented. The robot’s movement capabilities include straight-line motion, turning, and speed modulation, achieved through distinct motor configurations. Structural analysis played a vital role in assessing the forces, stresses and deformations the body experiences under various loads. Rigid body analysis is performed to analyze the contact forces and relative motion between the bodies. Authors explored two advanced control strategies—Fractional Order PID (FOPID) and Fuzzy PID—to compare their effectiveness in trajectory tracking and motor synchronization. The FOPID controller offers enhanced flexibility by fine-tuning the proportional, integral, and derivative gains using fractional calculus, ensuring smoother trajectory following. In contrast, the Fuzzy PID controller adapts its gains in real time, providing robust performance in dynamic environments. Simulation results over a 25-second interval show that the FOPID controller excels in smooth, precise motion, while the Fuzzy PID controller proves effective in handling external disturbances. This study contributes to soft robotics by showcasing effective control methodologies for bio-inspired locomotion, with potential applications in search and rescue missions, medical devices, and inspection tasks within confined spaces.