基于干扰观测器的水下机械手反演控制方法  

Back stepping Controller Design for Underwater Manipulator System Based on Nonlinear Disturbance Observer

作　　者：陈伟[1] 刘金龙 王伟然[1] CHEN Wei;LIU Jin-long;WANG Wei-ran(School of Electronics and Information,Jiangsu University of Science and Technology,Zhenjiang Jiangsu 212003,China)

机构地区：[1]江苏科技大学电子与信息学院,江苏镇江212003

出　　处：《计算机仿真》2021年第9期371-375,共5页Computer Simulation

基　　金：国家自然科学基金资助项目(51809128);镇江市产业前瞻计划资助项目(GY2018018);江苏省“六大人才高峰”高层次人才计划资助项目(2016-GDZB-021)。

摘　　要：针对外界洋流干扰条件下水下机器人-机械手系统轨迹跟踪精度低、控制稳定性差、抗干扰能力弱等问题,提出了一种基于非线性干扰观测器的水下机器人机械手反演轨迹跟踪控制方法。在构建了机械手数学模型基础上,引入非线性干扰观测器对洋流等外界不确定干扰进行实时预估,在控制系统输入端进行动态补偿后,采用反演算法设计机械手轨迹跟踪控制器,通过李雅普诺夫定理分析了闭环系统的稳定性。仿真结果表明,设计的干扰观测器能够有效预估等效干扰并加以补偿,提出的控制方法显著提高了机械手系统轨迹跟踪性能和抗干扰能力,其跟踪精度有所提高。提出的方法能有效解决水下机械手控制中的抖动问题,提高了系统控制精度。In order to solve problems of underwater vehicle manipulator system under external disturbance, low tracking accuracy, poor control stability, and weak anti-interference, a backstepping trajectory tracking controller based on nonlinear disturbance observer is proposed.On the basis of the mathematical model of the manipulator, the nonlinear disturbance observer was introduced to predict the external uncertain disturbance in real-time.The trajectory tracking controller of the manipulator was designed by a backstepping algorithm after dynamic compensation at the input of the control system and the stability of the closed-loop system was analyzed by Lyapunov theorem.The simulation results show that the designed disturbance observer can effectively predict the equivalent disturbance and compensate for it.The proposed control method dramatically improves the track tracking performance and anti-interference ability of the manipulator system, and the tracking accuracy is improved by about 15%.This method can effectively solve the jitter problem and improve the control accuracy in the control of underwater manipulators.

关 键 词：机械手 非线性干扰观测器 轨迹跟踪 水下机器人 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]