水下机械手分数阶积分滑模轨迹跟踪控制方法研究

中国机械工程

水下机械手分数阶积分滑模轨迹跟踪控制方法研究

黄道敏1,2；韩丽君1；唐国元1；周曾成1；徐国华1

1.华中科技大学船舶与海洋工程学院，武汉，430074
2.空军预警学院预警技术系，武汉，430010

出版日期:2019-07-10 发布日期:2019-07-10
基金资助:
中央高校基本科研业务费专项资金资助项目（2018JYCXJJ045,2018KFYYXJJ012）;
华中科技大学跨学科创新团队资助项目；
海洋防务技术创新中心创新基金资助项目

Fractional Integral Sliding Mode Control for Trajectory Tracking of Underwater Manipulators

HUANG Daomin1,2；HAN Lijun1；TANG Guoyuan1；ZHOU Zengcheng1；XU Guohua1

1.School of Naval Architecture & Ocean Engineering,Huazhong University of Science and Technology,Wuhan,430074
2.Department of Early-warning Technology,Air Force Early Warning Academy,Wuhan,430010

Online:2019-07-10 Published:2019-07-10

摘要/Abstract

摘要： 针对未知有界外部干扰下水下机械手的轨迹跟踪问题，提出了一种分数阶积分滑模控制方法。该方法采用了基于分数阶积分滑模面的指数趋近律，考虑外部扰动，在模型中添加了外部扰动的近似估计项，使得系统可以实现快速收敛，且具有较强的抗干扰能力。利用李雅普诺夫理论证明了该方法的稳定性。对六自由度水下机械手的跟踪问题进行了仿真，结果表明，该控制方法具有良好的轨迹跟踪能力，且对外部干扰表现出良好的鲁棒性。

关键词: 水下机械手, 轨迹跟踪, 分数阶积分滑模控制, 指数趋近律

Abstract: A fractional integral sliding mode control scheme was proposed to solve the trajectory tracking problems of underwater manipulators with unknown and bounded external disturbances. The proposed method was made with the adoption of the exponential reaching law that was based on a fractional integral sliding mode surface and with one term added as the approximate estimate for the external disturbances, which made it possible to achieve fast convergence and have strong capacity of resisting disturbances for the systems. Moreover, the stability of the closed-loop system could be guaranteed by the Lyapunov theory. Numerical simulations of the six degree-of-freedom (DOF) underwater manipulators shows promising results that validate the high-precision tracking performance and the better robustness of the proposed control systems against external disturbances.

Key words: underwater manipulator, trajectory tracking, fractional integral sliding mode control, exponential reaching law

中图分类号:

TP242

黄道敏1,2；韩丽君1；唐国元1；周曾成1；徐国华1. 水下机械手分数阶积分滑模轨迹跟踪控制方法研究[J]. 中国机械工程.

HUANG Daomin1,2；HAN Lijun1；TANG Guoyuan1；ZHOU Zengcheng1；XU Guohua1. Fractional Integral Sliding Mode Control for Trajectory Tracking of Underwater Manipulators[J]. China Mechanical Engineering.

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http://www.cmemo.org.cn/CN/Y2019/V30/I13/1513

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