Analysis of Motion Control Methods for Underwater Robots

Abstract

The working environment of underwater robots is complex and variable, and the control precision of their movement is a difficult point to ensure the safe operation of underwater robots. This paper proposes three motion attitude control methods in response to the hydrodynamic force acting on the underwater robot during operation, and conducts multiple simulations on the robot in MATLAB to analyze and compare the control methods and point out the advantages and disadvantages of each method. It provides reference for researchers working on the motion control of underwater robots.