Underwater submersible robot and control method and control apparatus therefor
US12233996B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 28, 2024 |
| Grant date | Feb 25, 2025 |
| Priority date | — |
| Expiry date | Mar 28, 2044 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D2111/50
- WIPO fieldControl
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.