摘要
When an underwater robot works with its manipulator, it is very critical to keep the position and attitude stable in wave. The modeling, numerical calculus of the rolling motion of a small openframe underwater robot in wave was discussed. A sliding mode control（SMC） strategy with adaptive fuzzy reasoning is presenated to change the rolling response process of the underwater robot by using the two lateral thrusters to reduce the rolling amplitude when the manipulators are working. The results comparing between the simulation and the numerical calculus has shown the effectiveness. There is few analogous research on underwater robot attitudes in wave. Some attempts are made here.
When an underwater robot works with its manipulator,it is very critical to keep the position and attitude stable in wave. The modeling,numerical calculus of the rolling motion of a small open-frame underwater robot in wave was discussed. A sliding mode control(SMC) strategy with adaptive fuzzy reasoning is presented to change the rolling response process of the underwater robot by using the two lateral thrusters to reduce the rolling amplitude when the manipulators are working. The results comparing between the simulation and the numerical calculus has shown the effectiveness. There is few analogous research on underwater robot attitudes in wave. Some attempts are made here.
基金
Leading Project of Shanghai Science and Technology, China (No.07dz05813)
