Research on Trajectory Planning and Control of Operational Underwater Robots-Reference-Cited by-同舟云学术

Research on Trajectory Planning and Control of Operational Underwater Robots

Published:2022-12-15 Issue: Volume:2022 Page:1-11
ISSN:1563-5147
Container-title:Mathematical Problems in Engineering
language:en
Short-container-title:Mathematical Problems in Engineering

Author:

Shi Xinxin¹^ORCID,Zhu Chenyang²^ORCID

Affiliation:

1. School of Automation, Nanjing Institute of Technology, No. 1 Hongjing Road, Nanjing 211167, China

2. School of Mechanical Engineering, Nanjing Institute of Technology, No. 1 Hongjing Road, Nanjing 211167, China

Abstract

For the complex system modeling of operating underwater robots, various modules are built in Simulink to simulate the interaction of various forces and torques inside the underwater vehicle. According to the characteristics of the ROV itself, the ROV dynamics model is reasonably designed. In view of the problems of the position tracking delay, underwater environment interference, and unstable operation of the ROV, the fuzzy fractional PID control algorithm is adopted in the controller in this paper, and the control effect of the fuzzy PID and PID algorithm is compared and analyzed.

Funder

Nanjing Institute of Technology

Publisher

Hindawi Limited

Subject

General Engineering,General Mathematics

Link

http://downloads.hindawi.com/journals/mpe/2022/1986425.pdf

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