基于模糊反馈线性化和自适应扩张状态观测器的USM六自由度镇定控制  

USM six degrees of freedom stabilization control based on fuzzy feedback linearization and adaptive extended state observer

作　　者：孙非 崔特 曹宇赫 任超 Sun Fei;Cui Te;Cao Yuhe;Ren Chao(Tianjin Internal Combustion Engine Research Institute,Tianjin University,Tianjin 300072,China;School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,China)

机构地区：[1]天津大学内燃机研究所,天津300072 [2]天津大学电气自动化与信息工程学院,天津300072

出　　处：《仪器仪表学报》2024年第5期311-318,共8页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(62073235)项目资助。

摘　　要：水下游动机械臂(USM)作为一种新型的水下机器人,其镇定控制对于水下观测和作业任务的顺利完成具有重要意义。针对USM六自由度镇定控制时,其模型难以准确建立、水流等外部扰动难以观测和6个维度的控制器参数整定困难等问题,提出了一种基于模糊反馈线性化和自适应扩张状态观测器的控制方法。首先建立了USM的动力学模型;其次,考虑到USM强非线性和强耦合性的特点,对动力学模型反馈线性化后设计了PD控制器,并引入了模糊控制逻辑调整控制器的参数;同时为减少建模误差和实际水下环境存在各种不确定干扰对控制效果的影响,设计了一种自适应扩张状态观测器来实时补偿模型的不准确性和外扰。最终,在湖中实验测得,所提方案6维均方根误差(RMSE)为0.425 2、0.166 8、0.168 5、0.267 4、0.117 4、1.003 3,较之传统方案有明显的提升,证明了所提方案的有效性。Underwater swimming manipulator(USM),as a novel type of underwater robot,plays a significant role in the smooth completion of underwater observation and operation tasks due to its stable control.This article addresses issues such as the difficulty in accurately establishing the model,the challenge in observing external disturbances like water currents,and the difficulty in tuning the parameters of the controller for all six degrees of freedom in the stabilization control of the USM.The study proposes a control method based on fuzzy feedback linearization and an adaptive extended state observer.Firstly,the dynamic model of the USM is formulated.Secondly,considering the strong nonlinearity and strong coupling characteristics of the USM,a PD controller is designed after feedback linearization of the dynamic model,and fuzzy control logic is introduced to adjust the controller parameters.To reduce the impact of modeling errors and various uncertain disturbances present in the actual underwater environment on the control effect,an adaptive extended state observer is designed to compensate for inaccuracies of the model and external disturbances in real time.Ultimately,during lake trials,the six-dimensional root mean square error of this scheme is 0.4252,0.1668,0.1685,0.2674,0.1174 and 1.0033,which shows a significant improvement compared to traditional schemes.It shows the effectiveness of the proposed solution.

关 键 词：水下游动机械臂(USM) 反馈线性化 模糊控制 自抗扰 自适应扩张状态观测器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH701[自动化与计算机技术—控制科学与工程]