Motion Control System Architecture of Underwater Robot

Motion control system architecture of underwater robot is presented, which includes hardware and software architecture. Considering the longitudinal velocity effects on the other dimensions of underwater robot, a nonlinear controller is presented. The stability is verified with Lyapunov function. In order to coordinate motions on different dimensions, a virtual sonar based guidance law is introduced which originates from the behavior of human beings. Finally, the reliability and feasibility of the motion control system are demonstrated by sea trial