Motion Control System of Underwater Robot without Rudder and Wing

摘要

Motion control system of underwater robot without rudder and wing is presented with hardware and software architecture. Considering coupling effects and thrust reduction of propellers, the control layer, perception layer and executive layer in underwater robot system architecture are modified. In control layer, a nonlinear controller is presented to handle coupling effects between the longitudinal dimension and other dimensions of underwater robot. The stability of the controller is verified with Lyapunov function. A virtual sonar based guidance law is proposed in perception layer to coordinate motions on different dimensions, which originates from the behavior of human beings. In executive layer a kind of thruster configuration for high speed traveling is introduced to handle thrust reduction of tunnel thrusters. Finally, the reliability and feasibility of the motion control system are demonstrated by sea trial