A method includes: calculating a first difference between a current actual attitude of a fuselage and a desired attitude and a second difference between an actual depth and a desired depth; inputting the first difference and the second difference into a set terminal sliding mode surface to obtain an output value of the terminal sliding mode surface; using the output value as an input of a preset high-order observer, a radial basis function neural network and a terminal sliding mode control law, respectively, and using an output of the high-order observer and an output of the radial basis function neural network as a compensation input of the terminal sliding mode control law; performing power distribution for each propeller of a propeller assembly on the basis of the virtual force to obtain a propelling force of each propeller; and controlling the propellers of the underwater submersible robot.


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    Titel :

    Underwater submersible robot and control method and control apparatus therefor


    Beteiligte:
    LIU AIRONG (Autor:in) / LIANG JIAQIAO (Autor:in) / FU JIYANG (Autor:in) / LIANG JIAJIAN (Autor:in) / CHEN BINGCONG (Autor:in) / LIN HAI (Autor:in) / WANG JIALIN (Autor:in) / HE JIAWEI (Autor:in) / ZHOU FOBAO (Autor:in) / ZHANG YIXIAO (Autor:in)

    Erscheinungsdatum :

    25.02.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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