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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    Title :

    Underwater submersible robot and control method and control apparatus therefor


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

    Publication date :

    2025-02-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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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