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Volume 28 Issue 1
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2020  >  28(1): 024-32
LI Xiao-gang, WANG Hong-du, LI Ming. Nonlinear PD Controller Design for Autonomous Undersea Vehicle-Manipulator System[J]. Journal of Unmanned Undersea Systems, 2020, 28(1): 024-32. doi: 10.11993/j.issn.2096-3920.2020.01.004
Citation: LI Xiao-gang, WANG Hong-du, LI Ming. Nonlinear PD Controller Design for Autonomous Undersea Vehicle-Manipulator System[J]. Journal of Unmanned Undersea Systems, 2020, 28(1): 024-32. doi: 10.11993/j.issn.2096-3920.2020.01.004
shu

Nonlinear PD Controller Design for Autonomous Undersea Vehicle-Manipulator System

doi: 10.11993/j.issn.2096-3920.2020.01.004

  • Ocean University of China, Key Laboratory of Marine Mechanical and Electrical Equipment & Instruments of Shandong Provincial Universities, Qingdao 266100, China

  • Received Date: 2019-05-16
  • Rev Recd Date: 2019-06-05
  • Publish Date: 2020-02-29
    Abstract
  • For dealing with the nonlinearity, strong coupling and complexity of the working environment of autonomous undersea vehicle-manipulator system(AUVMS), a linear extended state observer(LESO)-based control scheme is designed, in which an AUV with two-link manipulator is divided into 5 subsystems. In each subsystem, external disturbances(such as ocean current, surge and vortex) and internal uncertainties(imprecise modeling, coupling effect and measurement error) are lumped as total disturbances, and LESO and linear feedback control law are designed for estimation and compensation, respectively. The convergence of LESO and the dynamics of estimation error are analyzed. Considering that the power and torque generated by the power device of undersea vehicle are limited, the upper limit of the control input should be set according to the physical characteristics of the power device in practical circumstance, however few literatures have studied the saturation control of undersea vehicle with manipulator system. Therefore, a nonlinear proportional-derivative(PD) controller with input saturation limit is designed and its stability is analyzed. The nonlinearity, high coupling and complex disturbance of the AUVMS are dealt with by using the “total disturbance” concept of the LESO, and the input saturation controller is adopted to ensure the industrial applicability of the control scheme. In addition, the effectiveness of the proposed control algorithm is verified by simulation and comparison with traditional proportional-integral-derivative(PID) control and slide mode control.

     

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