Hybrid Strategy-based Coordinate Controller for an Underwater Vehicle Manipulator System Using Nonlinear Disturbance Observer

This paper presents a hybrid strategy-based coordinate controller with a novel nonlinear disturbance observer for autonomous underwater vehicle manipulator systems (UVMSs). This method can reduce the influence from external unknown disturbances, inner coupling effects and model uncertainties by using a modified disturbance observer. Considering the natural redundancy property of the UVMS, the redundancy resolution algorithm is often utilized to give desired trajectories in the vehicle-joint space. However, because of the calibration errors, assembling errors and numerical errors, these desired trajectories may not lead the end-effector to the goal point accurately. To realize accurate motion control even when small errors exist in the planning phase, a hybrid strategy is introduced to transform the controller in the joint-vehicle space to the controller in the task space. Numerical simulations based on a UVMS have been carried out to testify the effectiveness of the proposed coordinate controller and the hybrid strategy. During the simulations, unknown disturbances are exerted upon the system. The trajectory tracking and error fixing performances are discussed in comparative analyses. The controller also maintains robust characteristics in comparison with the passivity-based controller and the proposed controller but without the disturbance observer. Experiments are also carried out to test its performance.