中北大学学报（自然科学版）2024，Vol.45Issue(2)：132-145,14.DOI:10.3969/j.issn.1673-3193.2024.02.002
基于水下目标抓取的UVMS抗扰控制方法研究
Research on Anti-Disturbance Control Method of UVMS Based on Underwater Target Capture
摘要
Abstract
The underwater Robot-Manipulator system(UVMS)has the problems of its own structure uncertainty interference,system dynamics coupling interference and ocean current interference in the under-water operation process,which puts forward higher requirements for the motion control of the underwater robot.In this paper,an error-constrained anti-disturbance control method was proposed for an underactu-ated AUV system.Based on the line-of-sight method and the set performance function,the error dynam-ics model of UVMS was obtained,and the underwater vehicle(AUV)anti-disturbance controller was designed based on this model.The Newton-Eular equation was used to estimate the coupling interference of the manipulator to the AUV body and compensate it in real time.The neural network control was used to compensate the structural uncertainty of the AUV system,and the adaptive control was used to com-pensate the neural network estimation error,the unstructured uncertainty error and the compensation error of the manipulator coupling disturbance.Through the simulation experiments under the static and fixed-point operation conditions of the manipulator,it is found that the motion control task conforms to the set expected time and tracking accuracy,and it also verifies the feasibility and effectiveness of the separated UVMS motion control scheme in the underwater fixed-point operation task.The proposed method has strong robustness,and the influence of these uncertainties can be suppressed by this anti-disturbance con-trol method.关键词
UVMS/抗扰控制器/水下定点作业/误差动力学方程Key words
UVMS/disturbance rejection controller/underwater fixed point operation/error dynamic equation分类
信息技术与安全科学引用本文复制引用
魏延辉,赵康康,谢吉顺..基于水下目标抓取的UVMS抗扰控制方法研究[J].中北大学学报（自然科学版）,2024,45(2):132-145,14.基金项目
海南省科技计划三亚崖州湾科技城自然科学基金联合资助项目(2021JJLH0003) （2021JJLH0003）
