水下遥作业系统的协调控制的研究

针对带缆水下机器人和机械手组成的水下遥作业系统协调作用实现预期运动的问题,改进了传统的滑模控制算法,用模糊算法动态调节滑模控制器的指数趋近律的两个参数,达到削弱抖震的效果,较好地跟踪系统的轨迹,实现水下机器人和机械手的协调控制。结果表明基于模糊动态调整滑模指数趋近律的方法能够改进系统的控制性能,在机器人和机械手共同运动时能克服系统的误差和外界扰动,达到较好的控制效果。

Research on coordinated control of an underwater remote operated vehicle-manipulator system

An fuzzy-adjusted controller is proposed for the coordinated control on the underwater remote operated vehicle-manipulator system. The controller improves the traditional sliding mode algorithm using fuzzy logic to adjust the reaching law parameters of the sliding mode controller with the purpose of decreasing chatter, better tracking of the trajectory of the motion to achieve coordination of system. The results show that the proposed method can overcome the system error and external disturbance to achieve better control effect.