Adaptive Control Method of Underwater Vehicle Manipulator System Under Disturbances

作者：Li, Jiyong; Wan, Lei; Huang, Hai^*; Zhang, Guocheng; Qin, Hongde

来源：Journal of Tianjin University (Science and Technology), 2018, 51(4): 413-421.

DOI：10.11784/tdxbz201701015

• Adaptive control methods
• Anti-disturbance controls
• Estimation and compensation
• S surface controls
• Stability performance
• Tether
• Underwater vehicle manipulator systems
• Underwater vehicles

Open frame underwater vehicles tend to be affected by the disturbances caused by manipulator, tether, waves and other factors.In order to reduce the influence of disturbances, in this article a model-based adaptive anti-disturbance control(AADC)method for open frame underwater vehicles was proposed.The models of disturbances caused by manipulator and tether was analyzed, and an AADC method in details based on global dynamic control loop and disturbances compensation terms was established.Experiments carried out on SY-Ⅱopen frame underwater vehicle to compare the AADC with the S surface control show that manipulator and tether indeed caused certain disturbances on the vehicle.The AADC method shows higher control accuracy through the estimation and compensation of disturbance in deep keeping, orientation keeping and path following experiments.When it comes to the position keeping experiments while the manipulator is at work, AADC method is robust against disturbance, hence generating smoother trajectory in vehicle motion and showing better stability performance than S surface control.

• 出版日期2018
• 单位哈尔滨工程大学