Research on Optimized Design of Predictive Controller for observational Underwater Robot

Observational underwater robots are seriously impressed by undercurrent and waves in the course of underwater movement. The environment is easy to trigger problems such as difficult operation and impoverished stability. Conventional motion control algorithms have the disadvantages of stricken dynamic response and insufficient adaptive ability. In order to improve the stability of the system, this paper proposes a predictive control optimized algorithm for the orientated and vertical controller of underwater robots. Firstly, this paper analyzes the underwater motion characteristics of observational underwater vehicles, and establishes a kinematic and dynamic model of the observational underwater robot. Then it uses FLUENT software to simulate the numerical parameters of the underwater robot. Finally, it designs a generalized predictive controller by the incremental PID algorithm Optimizedly. The optimized generalized predictive controller proposed in this paper improves the stability of the system, reduces the oscillation and shortens the response time compared to traditional GPC controllers after simulation and experiment verification.