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Multi-actuator underwater robot robust adaptive motion control device and method

An underwater robot, robust adaptive technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., to avoid chattering phenomenon, achieve the effect of robust adaptive precise control

Active Publication Date: 2018-03-30
RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN +1
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  • Application Information

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Problems solved by technology

[0004] The invention provides a multi-execution underwater robot robust self-adaptive motion control device; it overcomes the external disturbance generated by the underwater complex environment and the uncertainty generated by the underwater robot during the working process

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  • Multi-actuator underwater robot robust adaptive motion control device and method
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  • Multi-actuator underwater robot robust adaptive motion control device and method

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Embodiment Construction

[0024] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0025] The present invention provides a multi-execution underwater robot robust adaptive motion control device, such as figure 1 As shown, include a second-order sliding mode controller 2, the second-order sliding mode controller 2 has a control gain adaptive device 5, and the second-order sliding mode controller 2 is used to construct a virtual second-order sliding mode control law; control distribution module 3 Control distribution of multiple actuators, and establish nonlinear model 4 of actuators on the basis of control distribution, nonlinear model 4 of actuators control and construct underwater robot kinematics dynamics model 6, underwater robot kinematics dynamics model 6 and the expected signal of the expected module 1 control the second-order sliding mode controller 2 together.

[0026] The present invention ...

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Abstract

The invention discloses a multi-actuator underwater robot robust adaptive motion control device and method. The control device comprises a second-order sliding mode controller. The second-order sliding mode controller has a control gain adaptive device. The second-order sliding mode controller is connected with a control allocation module. The control allocation module controls and establishes anactuator nonlinear model. The actuator nonlinear model controls and establishes an underwater robot kinematics and dynamics module. The underwater robot kinematics and dynamics module and an expectation module jointly control the second-order sliding mode controller. The device and method overcome external disturbance of underwater complex environment and uncertainty of an underwater robot in theworking process; a multivariable second-order sliding mode motion control law is provided; by designing the adaptive law for control gain of a second-order sliding mode, finite-time control can be realized, chattering phenomena caused by a conventional method is prevented; and for a condition where multiple actuators work together, optimal control allocation is finished based on a quadratic form function.

Description

technical field [0001] The invention belongs to the technical field of multi-execution underwater robot control; in particular, a multi-execution underwater robot based on second-order sliding mode; in particular, it relates to a multi-execution underwater robot robust adaptive motion control device; it also relates to a multi-execution underwater robot Robust Adaptive Motion Control Method for Underwater Robots. Background technique [0002] Sliding mode control has strong robustness to external disturbance, model uncertainty and nonlinear characteristics of the system, so it has been widely used in the design of various control systems. However, there are two unsolvable problems in the traditional sliding mode, one is the chattering problem of the control quantity, and the other is the mismatch uncertainty that is difficult to overcome. On the basis of the traditional sliding mode, some scholars have studied the singular and non-singular terminal sliding mode, which can s...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 袁源王铮朱战霞孙冲陈诗瑜
Owner RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN
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