Research on Attitude Control of Cable Underwater Cleaning Robot

This paper studies the attitude control system of a cabled underwater cleaning robot. Aiming at the problem that the underwater cleaning robot with cable is affected by unknown disturbances such as ocean waves and umbilical cables during operation, and the attitude stability control is difficult, a multi-thruster hybrid thrust allocation strategy combining pseudo-inverse method and effective set iterative algorithm is proposed. The underwater cleaning robot 's backstepping sliding mode attitude control strategy is designed. In order to verify the feasibility and effectiveness of the attitude control method, Simulink is used for numerical example simulation analysis. Finally, the robot attitude control pool experiment is carried out to verify the effectiveness of the inverse sliding mode attitude controller applied to the cabled underwater cleaning robot.