采用干扰观测器的水下滑翔蛇形机器人纵倾运动控制

纵倾运动控制陈恩志 1; 2; 常健 2; 李斌 2; 张国伟 2; 3; 刘春 2; 3

doi:10.7652/xjtuxb202001023

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采用干扰观测器的水下滑翔蛇形机器人纵倾运动控制

更新时间：2025-07-09

- 采用干扰观测器的水下滑翔蛇形机器人纵倾运动控制
- Control for Pitch Motion of Underwater Gliding Snake-Like Robot Based on Disturbance Observer
- 西安交通大学学报 2020年54卷第1期页码：184-192
- 作者机构：
  
  1. 东北大学信息科学与工程学院,沈阳,110819
  2. 中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳,110016
  3. 中国科学院机器人与智能制造创新研究院,沈阳,110169
- 作者简介：
- 基金信息：
  
  : 2019-05-29。作者简介: 陈恩志(1995—),男,硕士生;常健(通信作者),男,副研究员。基金项目: 国家重点研发计划资助项目(2017YFB1300103);国家自然科学基金资助项目(61803365)
- DOI：10.7652/xjtuxb202001023
  中图分类号： TP242.3
- 网络首发：2020-01-10，
  
  纸质出版：2020
- 稿件说明：
移动端阅览
纵倾运动控制陈恩志 1, 2, 常健 2, 等. 采用干扰观测器的水下滑翔蛇形机器人纵倾运动控制[J]. 西安交通大学学报, 2020,54(1):184-192.

Control for Pitch Motion of Underwater Gliding Snake-Like Robot Based on Disturbance Observer[J]. 2020, 54(1): 184-192.
纵倾运动控制陈恩志 1, 2, 常健 2, 等. 采用干扰观测器的水下滑翔蛇形机器人纵倾运动控制[J]. 西安交通大学学报, 2020,54(1):184-192. DOI： 10.7652/xjtuxb202001023.

Control for Pitch Motion of Underwater Gliding Snake-Like Robot Based on Disturbance Observer[J]. 2020, 54(1): 184-192. DOI： 10.7652/xjtuxb202001023.

摘要

针对水下滑翔蛇形机器人在实现滑翔运动时存在控制输入受限和外界未知干扰的问题

提出了一种基于Nussbaum函数和非线性干扰观测器的反步控制策略。通过对欠驱动水下滑翔蛇形机器人的垂直面运动进行分析和有条件的简化

得到了对应运动学及动力学方程组。采用Nussbaum函数与双曲正切函数相结合的方式处理系统控制输入饱和

避免了双曲正切函数存在的控制器奇异值

通过非线性干扰观测器实现对外界复合扰动的有效观测并进行补偿。设计了纵倾运动跟踪的反步控制器

针对反步法中虚拟项引发的计算膨胀

采用动态面方法来消除。基于Lyapunov稳定性理论设计了控制器

保证系统能够实现速度与位置信号量的全局一致稳定性。研究结果表明:所提方案相对传统反步法

在响应时间与误差收敛速度方面都有一定程度提高

且非线性干扰观测器对于复合扰动量观测性能良好; 所设计的控制器可以有效实现机器人在外界未知干扰下纵倾运动的稳定跟踪

且具有较强的鲁棒性。

Abstract

Aiming at the problem that the underwater gliding snake-like robot has input constraints and unknown external disturbance during implementing gliding

the backstepping control method based on Nussbaum function and nonlinear disturbance observer is proposed to improve its pitching motion tracking performance. The vertical plane motion of the under-actuated underwater gliding snake-like robot is analy-ed and conditionally simplified

and the corresponding kinematics and dynamic equations are obtained. Nussbaum function and hyperbolic tangent function are combined to deal with the problem of system control input saturations

which avoids the controller singularity of the latter

and the nonlinear disturbance observer is used to effectively observe and compensate the external complex disturbance. The backstepping controller is designed for pitching motion tracking

where the computational expansion caused by the virtual item in the backstepping method is eliminated by the dynamic surface m

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references

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