水下机器人-机械臂系统的滑模自抗扰控制

Sliding mode active disturbance rejection control of underwater vehicle-manipulator system

针对水下机器人机械臂系统的强耦合、强非线性、复杂海洋多源干扰等因素影响,提出了滑模自抗扰控制器,将复杂系统模型转变为简单的积分串联系统,将内部参数不确定性、测量误差、建模误差和海洋多源干扰等扰动归结为总扰动,并采用线性扩张观测器对其进行估计并抵消。利用滑模控制器提高系统对参数摄动的不敏感性,增强控制系统的抗干扰性能,通过李雅普诺夫理论分析了控制系统的有界稳定性。仿真结果表明滑模自抗扰与传统滑模控制和自抗扰控制相比,能使水下机器人机械臂实现更好的轨迹跟踪,且系统具有更好的抗干扰能力。

To improve the control performance of underwater vehicle-manipulator systems(UVMSs),a sliding mode active disturbance rejection controller(SM-ADRC)is proposed wfor dealing with issues of the strong coupling,nonlinearity,and complex multi-source marine environment interference of UVMSs.The internal parameter uncertainties,measurement error,modeling error,and ocean current disturbance are regarded as the total disturbances,and the linear extended state observer is designed to estimate and attenuate this disturbance.Moreover,in this case,the complex system model is transformed into a simple integrated series system.Considering that the sliding mode controller(SMC)is insensitive to parameter perturbation,the SMC is incorporated into the control system to enhance the anti-disturbance performance of the whole system,and the stability of the control system is analyzed using the Lyapunov theory.The simulation results show that compared with the conventional SMC and linear active disturbance rejection controller,the UVMS with SMADRC schemes can achieve better trajectory tracking and anti-disturbance ability.