Abstract
In this paper, the propulsive motility characteristics and the corresponding motion equations of a self-designed sub-mini underwater robot were analyzed. And the disturbance observer was used in propulsive motility control of the underwater robot. According to feedback control principle and dynamic performance index of controlled object, the disturbance observer parameter was designed. Digital simulation of propulsion system indicated that system had a better inhibition effect to the disturbance and the propulsive motility control performance of the underwater robot had also been improved. So all the experimental results showed that the disturbance observer has good robustness, also it is very useful to deal with disturbance rejection, which shows its practical value and good performance in motion control.
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