Underwater submersible robot and control method and control apparatus therefor

An underwater submersible robot, characterized by comprising:

• a fuselage;
• a detection apparatus, disposed on the fuselage and configured to detect an underwater target;
• a propeller assembly, disposed on the fuselage and configured to drive the underwater submersible robot underwater;
• a sensing apparatus, disposed on the fuselage and configured to sense an attitude and depth of the fuselage;
• and
• a control apparatus, disposed on the fuselage, connected to the detection apparatus, the sensing apparatus and the propeller assembly, and configured to:
• calculate a first difference between a current actual attitude of the fuselage and a desired attitude and a second difference between an actual depth and a desired depth;
• input the first difference and the second difference into a set terminal sliding mode surface to obtain an output value of the terminal sliding mode surface;
• use the output value as an input of a preset high-order observer, a radial basis function neural network and a terminal sliding mode control law, respectively, and use an output of the high-order observer and an output of the radial basis function neural network as a compensation input of the terminal sliding mode control law to obtain a virtual force outputted by the terminal sliding mode control law;
• perform power distribution for each propeller of the propeller assembly on the basis of the virtual force to obtain a propelling force of each propeller;
• and
• control a propelling operation of the propellers on the basis of the propelling force.