The invention relates to an
underwater robot attitude control method. A slave control board A collects the
voltage and current of a power source, the temperature of the power source, the temperature and
humidity in an electronic cabin, and information indicating whether
water leakage occurs in the electronic cabin; the
voltage and current of the power source, the temperature of the power source, the temperature and
humidity in the electronic cabin, and the information indicating whether
water leakage occurs in the electronic cabin are subjected to
data processing of various modules; the processed data are transmitted to a master control board through an RS232 communication module; a slave control board B performs
data processing and analysis of received data of a depth meter and an electronic
compass and transmits
processing results to the main control board through the RS232 communication module; after receiving navigation and depth information, the main control board calls a new fastnon-singular terminal sliding-
mode control method according to the
attitude control command of a console so as to calculate the rotational speed of each thruster; the rotational speed is putted intoa DA conversion module; obtained information is transmitted to each thruster; and therefore, the
attitude control of a
robot can be realized. With the
underwater robot attitude control method of the present invention adopted, the problem of slow
local convergence and easy fluctuation of the conventional non-singular
terminal sliding mode control method can be solved.