基于非奇异终端滑模的水下六足机器人姿态精确控制  

Precise Attitude Control of Underwater Hexapod Robot Based on Nonsingular Terminal Sliding Mode Control

作　　者：陈刚[1] 施良才 张晶晶 施建伟 CHEN Gang;SHI Liangcai;ZHANG Jingjing;SHI Jianwei(College of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China;Zhejiang Kaifu Boke Technology Co.,Ltd,Jinhua 321035,China)

机构地区：[1]浙江理工大学机械工程学院,杭州310018 [2]浙江凯富博科科技有限公司,金华321035

出　　处：《无人系统技术》2023年第4期40-50,共11页Unmanned Systems Technology

基　　金：浙江省“尖兵”“领雁”研发攻关计划项目(2023C03015);浙江省自然科学基金(LY20E050018);国家自然科学基金(51875528,41506116)。

摘　　要：水下机器人是开发海洋的重要工具,水下六足机器人由于其卓越的避障能力而受到格外关注。而水下六足机器人的姿态控制准确度是影响其避障能力的重要因素。为了解决水下六足机器人姿态精确控制问题,提出了一种基于非奇异终端滑模的姿态控制方法。首先建立水下六足机器人的运动学模型,提出了基于落足点的姿态控制方法。然后将落足点模型和非奇异终端滑模结合,采用三段式趋近律以加快趋近速度,并证明了稳定性。最后对水下六足机器人进行了仿真,并与传统滑模和PID进行了对比。阶跃跟踪和正弦跟踪仿真表明,改进的非奇异终端滑模响应速度提高了0.1~0.2 s,跟踪误差始终小于0.1°。改进的非奇异终端滑模控制方法不仅收敛速度快于传统滑模和PID,跟踪精度也高于传统滑模和PID,进一步验证了基于非奇异终端滑模的姿态控制器的有效性。Underwater robots are important tools for exploiting the oceans,and underwater hexapod robots are receiving extra attention due to their superior obstacle avoidance capabilities.The attitude control accuracy of underwater hexapod robots is an important factor affecting their obstacle avoidance ability.In order to solve the problem of accurate attitude control of underwater hexapod robot,an attitude control method based on nonsingular terminal sliding mode control is proposed.Firstly,the kinematics model of the underwater hexapod robot is established,and the attitude control method based on the foot dropping point is proposed.Then,the foot drop point model is combined with the nonsingular terminal sliding mode control,and a three-stage approach law is adopted to speed up the approach rate,and the stability is proved.Finally,the underwater hexapod robot is simulated and compared with the traditional sliding mode control and PID.The simulation of step tracking and sinusoidal tracking shows that the response speed of the improved nonsingular terminal sliding mode control is improved by 0.1~0.2 s,and the tracking error is always less than 0.1°.The improved nonsingular terminal sliding mode control method not only has faster convergence rate than traditional sliding mode control and PID,but also has higher tracking accuracy than traditional sliding mode control and PID,which further verifies the effectiveness of the attitude controller based on nonsingular terminal sliding mode control.

关 键 词：水下六足机器人 机器人学 运动学 非奇异终端滑模 姿态跟踪 联合仿真 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]