基于水下目标抓取的UVMS抗扰控制方法研究

Research on Anti⁃Disturbance Control Method of UVMS Based on Underwater Target Capture

水下机器人-机械臂系统(UVMS)在水下作业过程中存在自身结构不确定性干扰、系统动力学耦合干扰以及海流干扰的问题,这对水下机器人的运动控制提出了更高的要求。本文以某欠驱动水下机器人系统作为研究对象,提出了一种误差受限的抗干扰控制方法。基于视线法和设定性能函数得到UVMS的误差动力学模型,再基于此模型设计水下机器人(AUV)抗扰控制器。通过牛顿-欧拉方程估算机械臂对于AUV本体的耦合干扰并进行实时补偿。采用神经网络控制补偿AUV系统的结构性不确定性,并利用自适应控制来补偿神经网络估计误差、非结构性不确定性误差和机械臂耦合干扰的补偿误差。通过机械臂静止和定点作业两组工况下的仿真实验发现,运动控制任务符合设定预期时间和跟踪精度,同时也验证了分离式UVMS运动控制方案在水下定点作业任务中的可行性和有效性。本文方法具有很强的鲁棒性,且能够通过此抗扰控制方法来抑制这些不确定性干扰的影响。

The underwater Robot-Manipulator system(UVMS)has the problems of its own structure uncertainty interference,system dynamics coupling interference and ocean current interference in the underwater operation process,which puts forward higher requirements for the motion control of the underwater robot.In this paper,an error-constrained anti-disturbance control method was proposed for an underactuated AUV system.Based on the line-of-sight method and the set performance function,the error dynamics model of UVMS was obtained,and the underwater vehicle(AUV)anti-disturbance controller was designed based on this model.The Newton-Eular equation was used to estimate the coupling interference of the manipulator to the AUV body and compensate it in real time.The neural network control was used to compensate the structural uncertainty of the AUV system,and the adaptive control was used to compensate the neural network estimation error,the unstructured uncertainty error and the compensation error of the manipulator coupling disturbance.Through the simulation experiments under the static and fixedpoint operation conditions of the manipulator,it is found that the motion control task conforms to the set expected time and tracking accuracy,and it also verifies the feasibility and effectiveness of the separated UVMS motion control scheme in the underwater fixed-point operation task.The proposed method has strong robustness,and the influence of these uncertainties can be suppressed by this anti-disturbance control method.