基于自适应反正切非奇异终端滑模的水下机械臂轨迹跟踪控制  

Trajectory tracking control of underwater manipulator based on adaptive arctangent non-singular terminal sliding mode control

作　　者：范亚洲 孙林祥 白雪剑 赵艺楠 惠晓龙 王宇[4] FAN Ya-zhou;SUN Lin-xiang;BAI Xue-jian;ZHAO Yi-nan;HUI Xiao-long;WANG Yu(Electric Power Research Institute,Guangdong Power Grid Co.,Ltd.,Guangzhou 510620,China;College of Automation,Harbin University of Science and Technology,Harbin 150006,China;College of Electrical Engineering,Liaoning University of Technology,Jinzhou 121001,China;Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China)

机构地区：[1]广东电网有限责任公司电力科学研究院,广州510620 [2]哈尔滨理工大学自动化学院,哈尔滨150006 [3]辽宁工业大学电气工程学院,辽宁锦州121001 [4]中国科学院自动化研究所,北京100190

出　　处：《控制与决策》2025年第1期205-213,共9页Control and Decision

基　　金：国家重点研发计划项目(2023YFB4707000);国家自然科学基金项目(U23B2038,62122087);北京市自然科学基金项目(4222055,KZ202210017024);中国科学院青年创新促进会项目(Y2022053);辽宁工业大学博士启动基金项目(XB2022005);辽宁省自然科学基金项目(2023-BS-193);辽宁省教育厅项目(LJKMZ20220963)。

摘　　要：针对水下机械臂的末端轨迹跟踪控制问题,提出一种自适应快速反正切非奇异终端滑模控制器.首先,基于莫里森方程建立考虑水作用效应的水下机械臂动力学模型;其次,结合非奇异终端滑模控制和反正切函数特性,设计一种快速反正切非奇异终端滑模控制器,并基于径向基神经网络预测系统的未知扰动;然后,通过李雅普诺夫理论验证所提控制方法可在有限时间内收敛到期望位置;最后,通过仿真实验验证所提控制方法的有效性.An adaptive fast arctangent non-singular terminal sliding mode controller is proposed for the end trajectory tracking control of the underwater manipulator.Firstly,the dynamic model of the underwater manipulator considering water effects is established based on the Morrison equation.Secondly,combining the characteristics of non-singular terminal sliding mode control and arctangent functions,an fast arctangent non-singular terminal sliding mode controller is designed,and the unknown disturbance of the system is predicted based on the radial basis function neural network.Then,the Lyapunov theory is used to verify that the proposed control method can converge to the desired position in finite time.Finally,the effectiveness of the proposed control method is verified by simulation experiments.

关 键 词：水下机器人 水下机械臂 滑模控制 自适应控制 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]