Adaptive-Disturbance-Observer Based Backstepping Control for Underwater Vehicle-Manipulator Systems

HOU Dongdong; DU Junmin; QIN Liping; WANG Kai; JING Huixiang; LI Guanghua

doi:10.11993/j.issn.2096-3920.2022-0011

Volume 31 Issue 3

Jun 2023

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Article Navigation > Journal of Unmanned Undersea Systems > 2023 > 31(3): 413-420

HOU Dongdong, DU Junmin, QIN Liping, WANG Kai, JING Huixiang, LI Guanghua. Adaptive-Disturbance-Observer Based Backstepping Control for Underwater Vehicle-Manipulator Systems[J]. Journal of Unmanned Undersea Systems, 2023, 31(3): 413-420. doi: 10.11993/j.issn.2096-3920.2022-0011

Citation:

HOU Dongdong, DU Junmin, QIN Liping, WANG Kai, JING Huixiang, LI Guanghua. Adaptive-Disturbance-Observer Based Backstepping Control for Underwater Vehicle-Manipulator Systems[J]. Journal of Unmanned Undersea Systems, 2023, 31(3): 413-420. doi: 10.11993/j.issn.2096-3920.2022-0011

Citation:

HOU Dongdong, DU Junmin, QIN Liping, WANG Kai, JING Huixiang, LI Guanghua. Adaptive-Disturbance-Observer Based Backstepping Control for Underwater Vehicle-Manipulator Systems[J]. Journal of Unmanned Undersea Systems, 2023, 31(3): 413-420. doi: 10.11993/j.issn.2096-3920.2022-0011

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Adaptive-Disturbance-Observer Based Backstepping Control for Underwater Vehicle-Manipulator Systems

doi: 10.11993/j.issn.2096-3920.2022-0011

HOU Dongdong^{1, 2
,},
DU Junmin^{1, 2},
QIN Liping^{1, 2},
WANG Kai^{1, 2},
JING Huixiang^{1, 2},
LI Guanghua^{1, 2}

1.
713th Research Institute, China State Shipbuilding Corporation Limited, Zhengzhou 450015, China
2.
Henan Key Laboratory of Underwater Intelligent Equipment, Zhengzhou 450015, China

Received Date: 2022-07-12
Accepted Date: 2022-08-23
Rev Recd Date: 2022-08-15

Available Online: 2022-12-26

Abstract

Abstract

To resolve problems involving undersea vehicle-manipulator systems(UVMSs) with coupling terms, model uncertainties, and disturbances, an adaptive-disturbance-observer-based backstepping control method is proposed. Ocean multi-source disturbances are described by a linear exosystem and an adaptive disturbance observer is presented to estimate the disturbances. To address saturation of the actuators, an auxiliary dynamic system is given. A backstepping control method is then presented to ensure that the closed-loop tracking system is bounded by the Lyapunov theory. Finally, simulations are conducted on a kind of UVMS with two joints, and the simulation results demonstrate that the proposed method exhibits better performance in terms of trajectory tracking and antidisturbance than the traditional proportional-integral-derivative control method.
- undersea vehicle-manipulator system,
- adaptive disturbance observer,
- backstepping control

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References(13)

References

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