Dynamic Modeling and Control of Underwater Snake Robot

This paper proposes a three-link underwater snake robot with propeller in the tail based on two-dimensional planar motion, which solves the problem of limited movement of underwater robot in narrow waters, rock crevices, underwater pipelines and other environments. In order to realize the stable control of underwater motion of three link underwater snake robot, the water resistance and water resistance torque of underwater snake robot are analyzed. The kinematics and dynamics models of planar underwater snake robot are established by using momentum theorem and momentum moment theorem. The stability and robustness of the two control strategies are analyzed through simulation experiments, and the results show that the control strategy based on ADRC is obviously better than PID control.