Integral separation PID control algorithm with self-adjusting parameter and fuzzy control algorithm have been simulated and experimented in the article to test their control effect.

为验证系统的控制效果，本文对积分分离pid参数自整定算法和模糊控制算法进行了仿真和试验。

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Finally, referring the intelligent control theory, the self-adjusting parameter PID control strategy based on the fuzzy logic rules is introduced.

结合智能控制理论，提出了基于模糊规则的适应式参数自调整PID控制策略。

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Due to the nonlinearity of the robot system, position controller USES the parameter self-adjusting fuzzy control strategy, which assures good pose regulating power.

针对清刷机器人水下作业的非线性特点，采用参数自调整模糊控制策略设计了位置模糊控制器，保证了机器人具有良好的姿态调节能力。

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