Depth and Heading Control of a Manta Robot Based on S-Plane Control

Bionic underwater robots have many advantages such as high mobility, efficiency, affinity, etc. They are especially suitable for tasks collecting hydrographic information and detailed surveys of the marine environment. These based on their high-precision attitude control. Therefore, this paper proposes a control scheme bionic robot—a manta robot. To improve depth retention capability robot, S-plane controller asymmetric output was designed in combination with longitudinal motion characteristics In addition, to achieve good robot under conditions large changes heading angle, fuzzy transition target value function were combined design Finally, feasibility reliability system verified by pool experiments. The experimental results showed that error within ±5 cm degrees. proposed achieves providing basis practical application