The Research On Modeling And Simulation Of A Tethered Underwater Robot Control System Based On Fuzzy Neural Network

Underwater robot is a high-tech underwater equipment integrated body, it can be used as extension of artificial intelligence and various sensory organ underwater to complete explore task of variety of underwater environments instead human. In the past 20 years, it has been a great increase in the research of underwater robot due to marine development and the need for military. A group of underwater robot work in a variety of different depths and for a variety of operation had been developed and applied. It is believed that all kinds of underwater robot will be more and more intelligent with the increase of the need for ocean development and technological progress.The thesis is a part of China National Natural Science Foundation Project named"The research on a three-dimensional mathematical model and control characteristics of a tethered underwater robot system". The thesis is for the study of a tethered underwater robot system, it is demanded for better trajectory and attitude control ability in low-speed because of this type of robots is used for underwater exploration and work frequently. Therefore, precise control for this kind of underwater robots is very necessary; however, the design of a underwater robot control system should consider the nonlinear characteristics of the complex system and combination of factors caused by various nonlinear dynamic underwater. As a result, a control algorithm with strong robustness and anti-jamming capability must be chose to establish controller of an underwater robot.The thesis designs a control system with the theory of fuzzy neural network based on the hydrodynamic mathematical model which had been completed before. The control system gives manipulation of the corresponding control action depend on trajectory and attitude required of the underwater robot. While a new method considers the subject of the underwater robot and propellers is proposed to realize conversion between propeller propulsion and rotate speed. Therefore, after the introduction of the corresponding control action depend on trajectory and attitude required in different work environment, it can been able to research the hydrodynamic state and characteristics of the underwater robot in an integral theoretical frame.