A Voltage Control Method of 6-DoF Underwater Robotic System with an Observer-Based Robust Adaptive Fuzzy Estimator

In this paper, a control method is presented for the six degrees of freedom (6-DoF) underwater systems. First, the proposed thruster voltage mapping control strategy of underwaters is proposed by combining the general model of the 6-DoF motion and the thruster dynamical model. Indeed, a novel control strategy is designed to be used for the 6-DoF underwater vehicle with various numbers of thrusters. The suggested technique is computationally simple by using only one control loop, and it overcomes problems arising from conventional methods. Second, an observer-based robust adaptive fuzzy estimator is presented to compensate for disturbance and uncertainties.