A Designing Method of Underwater Controller based on Trajectory-tracking Control law for Underwater Profile Monitoring Vehicle

摘要

An Underwater part including hardware and software of distributed controller for underwater profile monitoring vehicle is investigated. A finite-time tracking control law based on finite-time trajectory-tracking control method is proposed to make an automation control of the vehicle and a manual/auto swtiched distributed controller on Underwater Profile Monitoring Vehicle is desinged. We give the designing procedure of hardware and software of the controller.