Adaptive-Disturbance-Observer Based Backstepping Control for Underwater Vehicle-Manipulator Systems
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摘要: 针对水下机器人-机械臂系统的强耦合、建模不确定性和环境扰动复杂的特点, 提出了一种自适应干扰观测器的反步控制方法。将海洋多源干扰用线性外系统描述, 设计自适应观测器进行估计。针对实际驱动器存在的输入饱和问题, 设计了辅助动力系统。在此基础上, 进一步设计了反步控制器, 并通过李雅普诺夫理论分析了闭环跟踪系统的有界稳定性。最后通过2 关节水下机器人-机械臂系统进行仿真验证, 结果表明与传统的比例积分微分控制相比, 文中方法能够更好地使机器人-机械臂系统跟踪预定轨迹, 且具有更好的抗干扰能力。
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关键词:
- 水下机器人-机械臂系统 /
- 自适应干扰观测器 /
- 反步控制
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. -
图 2 基于自适应干扰观测器的反步控制作用下UVMS本体跟踪情况
Figure 2. The tracking results of UVMS under the backstepping control based adaptive disturbance observer
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