Nonlinear Robust Control of Underwater Vehicle-Manipulator System Based on Time Delay Estimation

被引:0
作者
Wang, Yaoyao [1 ,2 ]
Chen, Bai [1 ]
Wu, Hongtao [1 ]
机构
[1] Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Nanjing, Jiangsu, Peoples R China
[2] Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou, Zhejiang, Peoples R China
来源
2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2017年
基金
中国国家自然科学基金;
关键词
nonlinear robust control; underwater vehicle manipulator system; UVMS; time delay estimation; TRACKING CONTROL;
D O I
暂无
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
To solve the trajectory tracking control problem of underwater vehicle-manipulator system (UVMS) under strong nonlinear couplings and complex parametric uncertainties and unknown external disturbance, a nonlinear robust control method based on time delay estimation (TDE) was proposed and investigated in this paper. The core idea of this method is that builds the basic architecture of the controller with TDE, and realizes the online estimation and real time compensation of the complex unknown lumped dynamics for the system. Afterwards, a designed desired dynamic equation is used to regulate the system control performance. Benefitting from the compensation of the unknown lumped dynamics and the model-free nature of TDE, the proposed method has good robustness and practical easy usage. Finally, the effective of the proposed method was demonstrated by comparative numerical simulations with a 9 degree of freedoms (DOFs) UVMS.
引用
收藏
页码:119 / 123
页数:5
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