Propulsion System Control of Underwater Robot Based on Multi-objective Optimization
YAO Jie
WANG Weiran
WANG Xingrui
SU Zhehao
Abstract：The underwater robot needs to adjust its navigation trajectory and hull posture at any times to meet the working re-quirements and resist the external flow disturbance.An underwater multi-motor ring cross-coupling control method based on multi-objective optimization is designed for hull posture adjustment.Firstly,the multi-motor propulsion systems with different struc-tures are normalized to three virtual motors,in order to reduce the computation in the multi-motor coordination control.Secondly,a multi-task optimal control method is introduced to distribute the expected speed to each virtual motor,in order to reduce the energy consumption of the underwater robot.Finally,the speed coordinated controller is designed based on speed tracking error and syn-chronization error,in order to realize multi-motor differential speed coordination.The simulation results show that this method has high synchronization,dynamics and control accuracy when controlling multi-motor(These motors have large parameter differences)at different speeds.
Keywords：underwater robotnormalized modelingring cross-couplingmulti-motor differential speed coordination
Publication Date：2025-09-20
Online Publishing Date：2025-12-23(First online date of this platform, not the publication date of the document)
Pages：9( 2433-2441 )