Neutral buoyancy robot pose and trajectory control method based on active disturbance rejection

Abstract

The invention discloses a neutral buoyancy robot pose and trajectory control method based on active disturbance rejection theory, the method aims at a round-off error problem caused by poor robot anti-interference ability and finite word length in a neutral buoyancy system, and delta operator theory is utilized to construct a neutral buoyancy system delta domain dynamic state equation. A delta domain tracking differentiator is designed, and a input signal transient process is arranged. A delta domain extended state observer is designed for coupling terms between water resistance and control forces in the neutral buoyancy system. The output state of the tracking differentiator and the estimation state of the extended state observer are utilized to design a delta domain compound anti-interference controller, and robot pose and trajectory control in the neutral buoyancy system is completed. According to the invention, the extended state observer is utilized to estimate total interference in the neutral buoyancy system and intra-system non-linearly coupled terms, the system anti-interference ability is improved, and the round-off error of the finite word length of system parameters is effectively reduced, and the method can be used in robot pose and trajectory high precision control under microgravity environment.

Description

technical field [0001] The invention belongs to the field of microgravity robot control, and relates to a neutral buoyancy robot attitude and trajectory control method based on the theory of active disturbance rejection, in particular to a neutral buoyancy robot active disturbance rejection control method operating in a complex underwater environment. Background technique [0002] As a key platform for ground-based verification of space technology, the microgravity simulation system has always received widespread attention at home and abroad. In the microgravity simulation system, because the neutral buoyancy system can provide a long-term, large-scale, and high-precision microgravity environment, the neutral buoyancy system has been extensively studied. However, in the neutral buoyancy system, the robot works in the underwater environment, not only the control forces are coupled with each other, but also the robot is seriously affected by the viscous resistance of the water...

AI Technical Summary

Problems solved by technology

However, in the neutral buoyancy system, the robot works in the underwater environment, not only the control forces are coupled with each other, but also the robot is seriously affected by the viscous resistance of the water.

In addition, in practical digital control systems, the finite word length representation will inevitably lead to rounding errors of the system parameters

These factors will seriously affect the attitude and trajectory control of neutrally buoyant robots.

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