On Controlling the Force of Detachment of the Foot of a Walking Propulsion Device Underwater Robot From the Support Surface

Abstract

The article deals with the interaction of the foot of the underwater robot's walking propulsion device with the support surface under the action of an additional drag force when it is detached from the bottom during the ascent in the transfer phase. The problem is solved approximately based on the generalized Galerkin method. The law of optimal control of foot separation from the ground by the criterion of the minimum level of heat loss in the drive engine is established.