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本文运用最优控制理论,提出了一种关于水下机器人定高运动控制的新方法——最优预测控制法,并以水下机器人RIGWORK为例,在计算机上进行了数字仿真。
In this paper, we use the optimal control theory to propose a new method of optimal motion control for underwater robot - Optimal Predictive Control. Taking the underwater robot RIGWORK as an example, a digital simulation is carried out on the computer.