The disclosure first measures the current information of the underwater situation the unmanned underwater vehicle (UUV) is found in, then calculates the force of the UUV on each degree of freedom (DOF) based on the information. Then the force on each UUV is fused with the respective force output by a command of a terminal to obtain a resultant force on each UUV Further, a thrust distribution matrix is used to distribute the resultant forces to the various thrusters of the UUV to obtain the output forces of the respective thrusters. Finally, the output force of each thruster is fused with the respective output force of the thruster that is output by the command of the terminal to obtain the thrust output required by the thruster.
CLOSED-LOOP MOTION CONTROL METHOD AND SYSTEM FOR A THREE-THRUSTER UNMANNED UNDERWATER VEHICLE
2021-02-25
Patent
Electronic Resource
English
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