Affiliation:
1. School of Automation, Jiangsu University of Science and Technology, Zhenjiang 212003, China
Abstract
The underwater vehicle manipulator system is a powerful tool for the exploration and development of marine resources. Due to the complexity of the marine environment, there are many disturbance factors and difficult to control. Taking the fixed depth control in hovering mode as an example, the vertical plane decoupling control model is established, and the adaptive sliding mode control method based on the disturbance observation is studied. The nonlinear disturbance observation is used to estimate the external unknown disturbance in real time, and the adaptive sliding mode method is used for compensation control. Simulation results show that the control method can effectively compensate for the sudden disturbance term, does not produce obvious trim motion, has strong robustness, and provides a reliable and stable base for the operation of the underwater manipulators. Finally, the operation experiments in the pool and real sea area under the disturbance condition are carried out, respectively. The experimental results show that the control effect is good and the stability is greatly improved compared with the traditional control method.
Funder
Modern Agriculture Project of Jiangsu province
Subject
General Engineering,General Mathematics
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献