水下六自由度机械手的自适应模糊积分滑模控制方法研究  

Adaptive Fuzzy Integral Sliding Mode Control for Underwater Manipulators

作　　者：袁子建 程茂林[2,3,4] 唐国元 韩丽君[1] YUAN Zijian;CHENG Maolin;TANG Guoyuan;HAN Lijun(School of Naval Architecture&Ocean Engineering,Huangzhong University of Science and Tchnology,Wuhan 430074,China;CCC Second Harbor Engineering Co.,Ltd.,Wuhan 430040,China;Key Laboratory of Largespan Bridge Construction Technology,Wuhan 430040,China;Research and Development Center of Transport Industry of Intelligent Manufacturing Technologies of Transport Infrastructure,Wuhan 430040,China)

机构地区：[1]华中科技大学船舶与海洋工程学院,武汉430074 [2]中交第二航务工程局有限公司,武汉430040 [3]长大桥梁建设施工技术交通行业重点实验室,武汉430040 [4]交通运输行业交通基础设施智能制造技术研发中心,武汉430040

出　　处：《机械工程师》2021年第8期29-32,35,共5页Mechanical Engineer

基　　金：武汉市企业技术创新项目(2020010602012052)。

摘　　要：针对水下机械手对水下航行器的动态捕获问题,文中对其捕获过程的控制问题进行研究。提出了水下机械手的自适应模糊积分滑模控制(AFISMC)以实现其对航行器的轨迹跟踪,针对控制系统中存在的抖动问题,提出了自适应模糊策略,用以减弱滑模控制中的抖动现象。用李亚普洛夫方法证明了水下机械手系统的稳定性。将AFISMC方法应用于一个六自由度水下机械手的轨迹跟踪控制,并进行了仿真,对比传统的滑模控制,AFISMC中的控制输入更平稳,滑动运动收敛于滑模面的速度更快,轨迹跟踪的精度更高。In order to solve the problem of dynamic capture that the underwater catches up with the AUV(Autonomous Underwater Vehicle),this paper investigates an issue of the capturing process of the manipulator.An adaptive fuzzy terminal sliding mode control(AFISMC)is studied to solve the trajectory tracking problem of AUV.In consideration of the chattering phenomenon of the sliding mode control,an adaptive fuzzy strategy is applied to reduce the chattering.Finally,the stability of the underwater manipulator systems is proved by Lyapunov theory.The AFISMC is applied to a trajectory tracking control of a 6-DOF underwater manipulator and then get the simulations of the 6-DOF underwater manipulator.Compared with the traditional sliding mode control,the control input of AFISMC is more smoothly,the velocity of converging to the sliding surface is faster and the accuracy of the trajectory tracking is higher.

关 键 词：水下机械手 滑模控制 轨迹跟踪 系统控制输入 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]