The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 25, 2025
Filed:
Mar. 28, 2024
Guangzhou University, Guangzhou, CN;
Airong Liu, Guangzhou, CN;
Jiaqiao Liang, Guangzhou, CN;
Jiyang Fu, Guangzhou, CN;
Jiajian Liang, Guangzhou, CN;
Bingcong Chen, Guangzhou, CN;
Hai Lin, Guangzhou, CN;
Jialin Wang, Guangzhou, CN;
Jiawei He, Guangzhou, CN;
Fobao Zhou, Guangzhou, CN;
Yixiao Zhang, Guangzhou, CN;
Haoxiang Zhou, Guangzhou, CN;
GUANGZHOU UNIVERSITY, Guangzhou, CN;
Abstract
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.