Bionic bladder based depth control for bionic underwater robots

Depth control of underwater robots is an indispensably function, especially when robots are stationary in water. A bionic bladder system was designed to control the depth of the robots in water. It was composed of a cylinder and a piston. The dynamic models of how the bionic bladder system controls underwater robots were established and based on which a dual-velocity control system was designed. The results of simulation showed that a good control performance could be achieved with proper control parameters. The experiments have been done in water tank to test and validate the performance of the control system.