Study on the Depth Control for an "Egg-shaped" Underwater Robot Based on Backstepping Sliding Mode Algorithm

Haotian Li1; Shuxiang Guo1,2,3; Chunying Li2; Jipeng Long1

10.1109/ICMA61710.2024.10633128

2024-08-07

2152-7431

979-8-3503-8808-4

2024 IEEE International Conference on Mechatronics and Automation (ICMA)

4-7 Aug. 2024

Tianjin, China

With the growing demand for autonomous underwater vehicles (AUVs) capable of precise navigation in intricate environments, achieving accurate depth control becomes pivotal. This paper introduced a pioneering study on depth control for an "Egg-shaped" underwater robot (EUR) utilizing the backstepping sliding mode control (BSMC) algorithm. By analyzing the kinematic and kinetic models of the EUR, a specialized control system was devised. This paper significantly advanced underwater robotics by presenting a robust and efficient solution for depth control, employing Lyapunov function in stability analysis. Simulation and experimental results validated the performance of the proposed algorithm in regulating the robot's depth across diverse operating conditions, surpassing traditional control methods in terms of stability and accuracy.

其他

1.National Engineering Laboratory for Big Data System Computing Technology, Shenzhen University, Shenzhen, China
2.The Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China
3.The Aerospace Center Hospital, School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China

Haotian Li,Shuxiang Guo,Chunying Li,et al. Study on the Depth Control for an "Egg-shaped" Underwater Robot Based on Backstepping Sliding Mode Algorithm[C],2024.