Stabilization control of underwater spherical robot based on UDE

Wenzhu Zhang; Jinhao Pan; Cong Song; Zuoxun Wang

doi:10.1117/12.2653203

20 October 2022 Stabilization control of underwater spherical robot based on UDE

Wenzhu Zhang, Jinhao Pan, Cong Song, Zuoxun Wang

Proceedings Volume 12350, 6th International Workshop on Advanced Algorithms and Control Engineering (IWAACE 2022); 123500O (2022) https://doi.org/10.1117/12.2653203
Event: 6th International Workshop on Advanced Algorithms and Control Engineering (IWAACE 2022), 2022, Qingdao, China

Abstract

This paper introduces the working principle of the underwater spherical detection robot BYSQ-3. Through the known kinematics and dynamic models of the underwater spherical robot, using the combination of dynamic feedback gain control and UDE control, several designs are designed. The simple physical controller realizes the stabilization control of the system, and ensures that the whole system can achieve global asymptotic stability quickly. It is simpler and simpler than the traditional nonlinear control method, and the simulation results show that the correctness and effectiveness of the theory are verified.

Citation Download Citation

Wenzhu Zhang, Jinhao Pan, Cong Song, and Zuoxun Wang "Stabilization control of underwater spherical robot based on UDE", Proc. SPIE 12350, 6th International Workshop on Advanced Algorithms and Control Engineering (IWAACE 2022), 123500O (20 October 2022); https://doi.org/10.1117/12.2653203

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