Research on ROV Motion Control Algorithm Based on RBF Neural Network Compensation
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摘要: 针对遥控无人潜水器(ROV)在模型参数不确定和外部环境干扰下的运动控制问题, 提出了一种基于径向基函数神经网络的自适应双环滑模控制策略。首先, 对于ROV外环位置控制采用改进趋近律的积分滑模控制方法, 对于ROV内环速度控制采用指数趋近率的积分滑模控制方法; 其次, 为进一步改善滑模控制的抖振问题, 引入双曲正切函数作为滑模切换项; 然后, 利用径向基函数神经网络控制技术对ROV模型的不确定参数和外部扰动进行估计与补偿; 最后, 利用李雅普诺夫稳定性理论证明了整个闭环系统的稳定性, 并对作业型ROV的运动控制进行了数值仿真。仿真结果验证了所设计的控制器可以实现ROV航行的精确控制, 并能够有效抑制模型不确定参数和外部扰动对ROV运动的影响。Abstract: Aiming at the problem of motion control of work-class ROV under the uncertainty of model parameters and the disturbance of external environment, an adaptive double-loop sliding mode control strategy based on radial basis function neural network is proposed. Firstly, the integral sliding mode control method with improved reaching rate is adopted for the position control of the ROV outer loop, and the integral sliding mode control method with exponential reaching rate is adopted for the speed control of the ROV inner loop. Secondly, in order to further improve the chattering problem of Sliding mode control, the hyperbolic tangent function is introduced as the sliding mode switching term. Subsequently, the RBF neural network control technology is used to estimate and compensate the uncertain parameters and external disturbances of the ROV model. Finally, the stability of the whole closed-loop system is proved by using Lyapunov stability theory, and the motion control of the work-class ROV is simulated numerically. The simulation results verified that the controller designed in this paper can achieve precise control of ROV navigation and effectively suppress the influence of model uncertainty parameters and external disturbances on ROV motion.
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图 6 RBF-DISMC控制方法下推进器推力曲线图
Figure 6. Thrust Curve of Thruster under RBF-DISMC Control Method
表 1 控制算法仿真性能比较
Table 1. Comparison of simulation performance of control algorithms
收敛时间 性能参数 CSMC DSMC RBF-DISMC $ {t_x} $/s 86.9 28.2 28.0 $ {t_y} $/s 67.6 51.1 47.9 $ {t_z} $/s 119.4 57.6 49.0 $ {t_\psi } $/s 47.8 36.0 29.6 $ {{{M}}_{{\text{MAE}}}} $ $ {x_m} $/m 0.108 6 0.071 2 0.057 6 $ {y_m} $/m 0.075 5 0.122 6 0.054 1 $ {z_m} $/m 0.217 2 0.186 0 0.163 5 $ {\psi _m} $/(°) $0.003\;2$ $0.038\;0$ $0.002\;7$ $ {R_{{\text{RMSE}}}} $ $ {x_r} $/m 0.225 9 0.172 6 0.162 8 $ {y_r} $/m 0.133 8 0.170 3 0.115 4 $ {z_r} $/m 0.404 1 0.353 6 0.350 6 $ {\psi _r} $/(°) $0.006\;7$ $0.042\;3$ $0.006\;6$ 
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