Modeling, Design and Experiment of Improved Super-mini Underwater Robot
نویسندگان
چکیده
To overcome the disadvantages appeared in the application of some supermini underwater robots, a simple improved design framework is proposed. A mechanical improvement scheme is proposed. An easy handle, powerful and computer aided software system including the closed-loop control algorithm is developed for solving the shortcomings that are existed in the manual operation. The modeling of underwater robot plays an important role in the closed-loop control design. The hydrodynamic derivatives are estimated by the experiment based on the decoupled motions in different directions. A new self-tuning PID algorithm is proposed for the controller design. The experimental results in different environment demonstrate the performance.
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