Coordinated Control of Underwater Biomimetic Vehicle-Manipulator System for Free Floating Autonomous Manipulation
Coordinated Control of Underwater Biomimetic Vehicle-Manipulator System for Free Floating Autonomous Manipulation
复制标题
自由漂浮自主操纵的水下仿生车辆-机械臂系统协调控制
DOI：
10.1109/tsmc.2019.2944637
复制
发表时间：
2021-08-01
影响因子：
8.7
通讯作者：
Tan, Min
中科院分区：
文献类型：
--
作者：
Cai, Mingxue;Wang, Shuo;Tan, Min
本文提出了一种水下仿生车辆机械臂系统（UBVMS）的车辆机械臂协调控制方法，以在实践中实现浮动自主操纵。提出了一种由自适应跟踪微分器（ATD）、扩展状态观测器（ESO）、改进的非奇异终端滑模控制（I-NTSMC）、模糊逻辑控制器（FLC）和机械臂扰动估计器组成的算法框架。 ATD 旨在生成所需的运动状态并减轻噪声。 ESO 的开发是为了估计运动状态、系统不确定性和外部干扰。所提出的 I-NTSMC 方法确保了系统状态的有限时间收敛并减轻了抖振。将机械手扰动的估计纳入控制策略中以增强车辆的位置保持。最后，进行了水下开门和抓取物体的自主自由漂浮操纵实验，验证了理论结果，证实了所提出控制策略的可行性。
This article presents a coordinated vehicle-manipulator control method for an underwater biomimetic vehicle-manipulator system (UBVMS) to implement floating autonomous manipulation in practice. An algorithm framework composed of adaptive tracking differentiator (ATD), extended state observer (ESO), improved nonsingular terminal sliding-mode control (I-NTSMC), fuzzy-logic controller (FLC), and estimator of manipulator disturbances, is proposed. The ATD is designed to generate desired motion state and alleviate noise. The ESO is developed to estimate the motion state, systematic uncertainties, and external disturbances. The proposed I-NTSMC method assures the finite-time convergence of the system states and alleviate chattering. The estimation of the manipulator disturbances is incorporated into the control strategy to enhance the station keeping of the vehicle. Finally, underwater autonomous free floating manipulation experiments about opening a door and grasping objects are conducted to validate the theoretical results and confirm the feasibility of the proposed control strategy.