Plane adhesion strategy for underwater robots based on LADRC

DOI:	10.11809/bqzbgcxb2025.02.027
Keywords:	ROV; LADRC; adhesion; hydrogel; array suction cup; trajectory tracking
Abstract:	Considering the need for underwater robots to move along the desired trajectory and adjust their posture accurately during the adhesion process to the target platform, a LADRC (Linear Active Disturbance Rejection Control) trajectory tracking control method combining adhesion strategy was designed to ensure the reliability and stability of the adhesion process. Firstly, the underwater adhesive robot is designed based on the biomimetic hydrogel sucker, and the ROV (Remote Operated Vehicle) dynamic and kinematic models were established. Secondly, the control strategy of underwater robots adhering to the target platform was proposed, and the LADRC controller was designed to accurately control the pose of the ROV in the longitudinal and vertical planes. Based on achieving precise trajectory tracking, the range of changes in the longitudinal inclination angle was adjusted according to the distance between the ROV and the target platform. The simulation results show that the designed controller has good robustness performance, and it can achieve accurate tracking of the longitudinal and vertical trajectory, with a range of changes in pitch angle far less than 5 degrees. The experimental results show that the bionic hydrogel sucker used in this paper can ensure that the ROV can adhere to the target platform reliably, and the designed controller can make the ROV run according to the set expected trajectory, and the pitch angle always remains within the range of 5 degrees, which further explains the feasibility of the adhesion strategy proposed in the actual working environment.
Issue:	Vol. 46 No. 2 (2025)
Published:	2025-02-28
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