基于有限时间扩张状态观测器的水下机器人精准跟踪控制系统设计  

Design of Precise Tracking Control System for Underwater Robots Based on Finite Time Extended State Observer

作　　者：王坤[1] WANG Kun(School of software,Sichuan Vocational College of Information Technology,Guangyuan 628000,China)

机构地区：[1]四川信息职业技术学院软件学院,四川广元628000

出　　处：《计算机测量与控制》2024年第9期149-156,共8页Computer Measurement &Control

摘　　要：水下机器人在运动过程中极易受到水环境因素的干扰发生运动偏移,为了保证水下机器人的精准、稳定航行,利用有限时间扩张状态观测器优化设计水下机器人精准跟踪控制系统;设计有限时间扩张状态观测器、水下机器人传感器、跟踪控制器和推进器,强化硬件系统的密封防水设计强度,完成系统硬件设计;根据水下航行任务,规划机器人的航行轨迹,作为系统控制目标;求解机器人位置、姿态角、速度等运动参数,得出水下机器人的跟踪结果;利用有限时间扩张状态观测器检测航行环境参数,结合当前机器人状态的跟踪结果,计算机器人运动控制量,在硬件系统的支持下,完成系统的精准跟踪控制功能;通过系统测试实验得出结论,静力水环境场景下水下机器人的平均位置跟踪误差为14 m、平均角度控制误差为0.10°,航行速度控制误差为0.5 m/s;动力水环境场景下水下机器人的位置跟踪误差最大值为9 m、平均角度控制误差为0.10°、航行速度控制误差为0.5 m/s。Underwater robots are vulnerable to interference from water environment factors during movement,and it is necessary to design a precise and stable tracking control system to ensure its accurate navigation.Using limited time expansion state observer to optimize the design of underwater robot precise tracking control system.Design the limited time expansion state observer,underwater robot sensor,tracking controller and propeller,strengthen the sealing and waterproof design of the hardware system,and complete the system hardware design.According to the underwater navigation mission,plan the robot s trajectory and use it as the system control target.Solve the robot s position,attitude angle,speed and other motion parameters to obtain the tracking results of the underwater robots.Combined with the tracking results of the current robot state,the limited time expansion state observer is used to detect the navigation environment parameters,calculate the robot s motion control quantity,and complete the precise tracking control function with the support of the hardware system.Through system testing experiments,it is concluded that the average position tracking error of underwater robots in static water environment scenarios is 14 m,with an average angle control error of 0.100 and a navigation speed control error of 0.5 m/s;The maximum position tracking error of underwater robots in dynamic water environment scenarios is 9 m,with an average angle control error of 0.10°and a navigation speed control error of 0.5 m/s.

关 键 词：有限时间扩张状态观测器 水下机器人 精准跟踪 机器人控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]