基于隐式离散化超螺旋算法的水下机器人姿态控制

Attitude control of underwater vehicles based on the implicit discretization of the super-twisting algorithm

本文主要研究作业型自主遥控水下机器人(ARV)的姿态控制问题。在ARV进行悬停作业时,机械臂运动对载体的耦合作用和环境不确定性等因素将影响作业过程的载体姿态,导致机械臂作业精度降低。为此,本文提出一种基于隐式离散化的超螺旋算法用于载体的姿态稳定控制。隐式离散化的引入有效抑制超螺旋算法离散化引发的抖振,对采样周期和过高的控制增益不敏感。采用多目标优化算法用于控制参数优化,排除了参数选择对控制性能的影响,确保了对比仿真实验的公平性。最后的对比仿真实验验证了所提出算法的有效性和优越性。

This paper investigates the attitude control problem of operational Autonomous and Remotely-operated Vehicle(ARV).When the ARV performs the floating manipulation,the dynamic coupling effect of manipulator movement on the vehicle and the environmental uncertainty will affect the attitude control of the vehicle,thereby reducing the accuracy of the manipulator operation.Thus,this paper proposed the super-twisting algorithm based on the implicit discretization method for the attitude stability control of the vehicle.The introduced implicit discretization method can effectively suppress the chattering due to discretization of the super-twisting algorithm,and it is insensitive to the sampling time and oversized control gains.Then,the multi-objective optimization algorithm is used to optimize the control parameters,which eliminates the influence of parameter selection on the control performance and ensures a fair comparative simulation experiment.Finally,the effectiveness and superiority of the proposed control scheme are verified by the comparative simulation experiment.