Abstract
As countries in the world continue to deepen marine research and development and the need for national defense construction, unmanned underwater robots are playing an increasingly important role in scientific experiments, seabed oil and gas exploration and testing, and military affairs. The motion stability of underwater robots is the key to ensure the safe and reliable operation of underwater robots, and it is the main content of stability control research to make underwater robots return to the initial state of motion after being disturbed. Therefore, it becomes very important to study stability control methods. It’s necessary. This thesis first analyzes the motion characteristics of collaborative filtering technology in water, and establishes a dynamic model of an underwater robot system composed of main thrusters, double vertical thrusters and double-sided thrusters, and performs basic fluid flow for underwater robots.
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