LS-QP-Switch Based Backstepping Control for Underwater Cleaning Vehicle

Solving the problems of controlling and locating underwater cleaning robot in deep sea fish-cages is significant to aquaculture. Therefore, this paper establishes 6-DOF dynamic model of robot, designs model based backstepping sliding mode controller with LS-QP-switch strategy for thrust allocation. Moreover, considering the underwater fish-cage is a structured environment, this paper introduces framework of multisensory navigation system which is based on SINS and vision. The simulation results show that the proposed controller, thrust allocation strategy and navigation system is effective, which can guarantee the tracking motion of underwater cleaning robot under the underwater structured environment.