摘要
针对带缆水下机器人和机械手组成的水下遥作业系统协调作用实现预期运动的问题,改进了传统的滑模控制算法,用模糊算法动态调节滑模控制器的指数趋近律的两个参数,达到削弱抖震的效果,较好地跟踪系统的轨迹,实现水下机器人和机械手的协调控制。结果表明基于模糊动态调整滑模指数趋近律的方法能够改进系统的控制性能,在机器人和机械手共同运动时能克服系统的误差和外界扰动,达到较好的控制效果。
In view of the realization of the expected motion for the coordinated control of the underwater remote operated vehicle-manipulator system which consists of underwater cable robot and manipulator, the traditional sliding mode algorithm is improved The fuzzy logic is used to adjust the reaching law parameters of the sliding mode controller to decrease the chatter and realize better tracking of the trajectory of the system. It realizes the coordinated control of underwater robot and manipulator. The results show that the proposed method can improve the controlling petformance of the system, and the jointly movement of robot and manipulator can overcome error and external disturbance to achieve better control effect.
出处
《船舶工程》
北大核心
2013年第3期67-70,共4页
Ship Engineering
关键词
水下遥作业系统
滑模控制
协调控制
underwater remote operated vehicle-manipulator system
sliding mode
coordinated control
