Stabilization control of chaotic motions in thruster motor for deepwater robot

In this paper, an adaptive control technique is applied to controlling the chaotic behavior in thruster motor system for deepwater robot. This chaotic oscillation has a direct impact on the stability, reliability and security of the robot. In addition, the proposed approach is also verified in the way of both flexibility and effectiveness, and a kind of chaotic controller that is applicable for manufacturing is designed and constructed. The simulation results show that thruster motor system can escape from the chaotic state in a short time by using the adaptive controller and transfer into continuous stable state. The method presented has improved performance of the control system obviously.