Abstract
The pendulum spherical underwater vehicle can realize the ascending and descending motion in water by using the internal pitch pendulum and the central propeller. It is the frequent swing of the pitch pendulum that causes the fluctuation of the speed of the robot and reduces the stability of the system. A two-stage sliding method is proposed for the pitch driving characteristics of the robot and it can control the pitch angle and the swing angle of the pitch pendulum of the robot at the same time. The neural network is introduced to compensate the interference items adaptively. The stability of the designed controller is proved in theory. The simulation and experimental results show that the proposed control method can realize the rapid control of the pitch angle of the robot and the frequency of the pitch pendulum. The complex swing is restrained effectively, and the stability of the underwater motion of the robot is improved.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
