Modelling and Control
Welcome to my repository.
This repository centers on a multi-mode underwater robot developed by the Intelligent Robotics and Vision Laboratory, College of Engineering, Ocean University of China.
Here you can find thorough quasi-Lagrange dynamic model deduction and its corresponding modeling code.
I will keep refining the modeling and control methods. Feel free to email me if you find any problems or wish to discuss related issues.
This is a novel seven-thruster multi-mode underwater robot. An additional thruster is adopted to adjust pitch attitude during surge motion.
Furthermore, we will deploy tools such as collectors and observers for specific scenarios, including underwater sampling and offshore wind pile inspection.
Both tools have only one degree of freedom. Notably, the collector has no active driving motor and moves purely relying on the robot's pitching motion.
Copyright Statement All code in this project is copyrighted by the author.Any use, reproduction, modification, commercial application or redistribution is strictly prohibited without written authorization from the autho