Dynamic modeling and fuzzy control of water strider robot

To make water strider robot (WSR) walk on the water, the robot´s dynamics modeling and control algorithms are discussed in the paper. The dynamics equations of WSR and dynamics equations concerning the actuator (motor) are established. Considering the motion´s non-holonomic feature of the WSR, and inaccurate equations themselves, a fuzzy control method is applied in the paper. After calibration of the sensor, on the basis of fitting motor voltage and rotation speed, a fuzzy controller is developed to allow the robot approaching the light source target and tracking the trajectory of the target. Finally Matlab/Simulink is used to simulate autonomous motion of water strider robot. Simulation results show the effectiveness and accuracy of the approach.