Hybrid Controller and Switching Strategy of Ice-underwater Amphibious Robot based on Dynamic Model Observer

Abstract

This paper introduces an amphibious hybrid control algorithm and switching strategy for ice-underwater amphibious robot with omni wheel and propeller. The algorithm can make the robot detect its trans-media motion behavior without other external auxiliary sensors, switch the motion state in time and track the desired speed value well. The ice-underwater amphibious robot has the functions of static friction wheel drive on the ice surface and underwater propeller propulsion. In this paper, the dynamic model of the robot driven by omni wheel and propeller is established, the speed state observer of the robot is designed, and the current state of the robot is judged by comparing with the real speed, so as to take appropriate control methods. This method will observe the wheel motion dynamics model and propeller motion dynamics model at the same time, compare the difference between the two observed speeds and the real motion speed, classify the current environment and motion state, and select the most efficient motion mode. This method correctly judges the environmental change in the robot field test, and obtains a good tracking effect on the expected attitude angle and speed curve.