国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

In order to ensure the accurate and stable navigation of the underwater vehicle, the precision tracking control system of the underwater vehicle is optimized by using the finite time expansion State observer. Design finite time expansion State observer, underwater robot sensor, tracking controller and propeller, strengthen the sealing and waterproof design strength of the hardware system, and complete the hardware design of the system. Based on underwater navigation tasks, plan the navigation trajectory of the robot as the system control target. Solve the motion parameters such as robot position, attitude angle, and speed to obtain the tracking results of the underwater robot. The finite time extended State observer is used to detect the navigation environment parameters, combine the tracking results of the current robot state, calculate the robot motion control quantity, and complete the precise tracking control function of the system with the support of the hardware system. Through system testing experiments, it is concluded that the average position tracking error of the underwater robot in the static water environment scenario is 14m, the average angle control error is 0.10 °, and the navigation speed control error is 0.5m/s; The average position tracking error of the underwater robot in the dynamic water environment scenario is 15m, the average angle control error is 0.10 °, and the navigation speed control error is 0.5m/s.