Control Strategies for an Aquaculture Feeder on an Oscillating Platform Using Disturbance-Based Weight Estimation

In precision aquaculture, feeding automation becomes particularly challenging when the dispenser operates on a non-fixed platform, as its dynamic behavior introduces perturbations that hinder accurate balance measurement and complicate dispenser control. To address this problem, this work proposes the integration of a weight estimator with robust control strategies. Two control approaches are evaluated: (i) a fuzzy proportional controller, where the fuzzy sets are generated using the fuzzy C-means clustering algorithm, and (ii) a self-tuning regulator (STR) based on based on an Autoregressive with Exogenous Input (ARX) model of the dispenser. In addition, the weight estimator employs a model of additive components dependent on the kinematics of the oscillating platform, with its hyperparameters experimentally optimized through cost function minimization. The proposal was experimentally validated using a compact prototype of an automatic dispenser mounted on an oscillating platform with pelletized feed, demonstrating robust performance and good dispensing accuracy, especially when employing the fuzzy-based control.