Guangzhou University

Fobao Zhou

Jiyang Fu

Airong Liu

Bingcong Chen

Jiaqiao Liang

Yixiao Zhang

Jialin Wang

Jiajian Liang

Jiawei He

Haoxiang Zhou

Hai Lin

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.

Underwater submersible robot and control method and control apparatus therefor

Growing community of inventors

Guangzhou, China

Fobao Zhou