Underwater submersible robot and control method and control apparatus therefor

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United States of America

PATENT NO 12233996
SERIAL NO

18620130

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Abstract

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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.

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Patent Owner(s)

  • GUANGZHOU UNIVERSITY OF CHINESE MEDICINE

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Chen, Bingcong Guangzhou, CN 11 1
Fu, Jiyang Guangzhou, CN 15 2
He, Jiawei Guangzhou, CN 20 49
Liang, Jiajian Guangzhou, CN 1 0
Liang, Jiaqiao Guangzhou, CN 7 0
Lin, Hai Guangzhou, CN 113 661
Liu, Airong Guangzhou, CN 18 7
Wang, Jialin Guangzhou, CN 26 16
Zhang, Yixiao Guangzhou, CN 7 18
Zhou, Fobao Guangzhou, CN 1 0
Zhou, Haoxiang Guangzhou, CN 1 0

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