水下打捞机器人执行器部分失效的有限时间轨迹跟踪控制

Finite time trajectory tracking control for partial actuator failure of underwater salvage robot

[目的]旨在解决船载供电电压降低或控制系统电路腐蚀等原因导致的水下打捞机器人执行器出现部分失效的问题。[方法]考虑到深海鱼雷、载货沉船等工程打捞作业中复杂海洋情况的影响,采用终端滑模观测器对系统不确定扰动进行观测。利用容错控制和有限时间控制方法,在线估计执行器故障系数,设计一种具有终端滑模观测器的有限时间轨迹跟踪容错控制方案。[结果]该方案的系统输出平滑、稳定且能快速到达期望轨迹,同时,与传统容错控制方案相比,降低了水下打捞机器人控制系统的稳态时间,其横向位移降低了10 s,纵向位移降低了15 s。[结论]能够为水下工程机械的轨迹跟踪控制提供理论参考,并具有实际的工程意义。

[Objective]This paper seeks to solve the problem of the partial failure of the actuator of an underwater salvage robot caused by a decrease in the shipborne power supply voltage or corrosion of the control system circuit.[Methods]Considering the influence of complex ocean conditions on deep-sea torpedoes,cargo shipwrecks,and other engineering salvage operations,the terminal sliding mode observer is used to observe the uncertain disturbance of the system,while the fault-tolerant control method and finite-time control method are used to estimate the fault coefficient of the actuator on-line,and a finite-time trajectory tracking fault-tolerant control scheme with a terminal sliding mode observer is designed.[Result]The system output of this scheme is smooth,stable,and can reach the desired trajectory quickly.At the same time,compared with the traditional fault-tolerant control scheme,the steady-state time of the underwater salvage robot's control system is reduced(the lateral displacement is reduced by 10 s and the longitudinal displacement by 15 s).[Conclusion]This study has practical engineering significance and can provide theoretical references for the trajectory tracking of underwater construction machinery.