Two-dimension track tracking controller of underwater robot
A technology for underwater robots and tracking controllers, which is applied in two-dimensional position/channel control and other directions, and can solve problems such as lack of self-adaptive functions and difficulty in accurately navigating according to trajectories.
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[0008] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0009] The specific process is as follows:
[0010] 1 Establishment of underwater robot dynamic model
[0011] According to the Newton-Euler equation of motion of a rigid body in a fluid, the dynamic model of the 6 degrees of freedom of the underwater robot in the motion coordinate system can be described as
[0012] M v + C ( v ) v + D ( v ) + g ( η ) =...
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