Abstract
From the point of view of motion control, considering the effects of inertia mass, additional mass, secondary resistance, gravity and buoyancy on the robot, a relatively complete dynamic model of the spherical underwater vehicle is established. On this basis, the steering controller of the spherical underwater vehicle is designed based on the principle of sliding mode exponential reaching law. The control performance is compared with that of ordinary PID control algorithm. From the simulation results, it can be seen that the steering control of the spherical underwater vehicle with the designed sliding mode control method can make the robot have faster steering ability and stronger anti-jamming ability.
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