基于有限时间扩张状态观测器的水下机器人精准跟踪控制系统设计

Design of precise tracking control system for underwater vehicle based on finite time extended State observer

摘要:

水下机器人在运动过程中极易受到水环境因素的干扰发生运动偏移,为了保证水下机器人的精准、稳定航行,利用有限时间扩张状态观测器优化设计水下机器人精准跟踪控制系统。设计有限时间扩张状态观测器、水下机器人传感器、跟踪控制器和推进器,强化硬件系统的密封防水设计强度,完成系统硬件设计。根据水下航行任务,规划机器人的航行轨迹,作为系统控制目标。求解机器人位置、姿态角、速度等运动参数,得出水下机器人的跟踪结果。利用有限时间扩张状态观测器检测航行环境参数,结合当前机器人状态的跟踪结果,计算机器人运动控制量,在硬件系统的支持下,完成系统的精准跟踪控制功能。通过系统测试实验得出结论,静力水环境场景下水下机器人的平均位置跟踪误差为14m、平均角度控制误差为0.10°,航行速度控制误差为0.5m/s；动力水环境场景下水下机器人的平均位置跟踪误差为15m、平均角度控制误差为0.10°、航行速度控制误差为0.5m/s。

Abstract:

In order to ensure the accurate and stable navigation of the underwater vehicle, the precision tracking control system of the underwater vehicle is optimized by using the finite time expansion State observer. Design finite time expansion State observer, underwater robot sensor, tracking controller and propeller, strengthen the sealing and waterproof design strength of the hardware system, and complete the hardware design of the system. Based on underwater navigation tasks, plan the navigation trajectory of the robot as the system control target. Solve the motion parameters such as robot position, attitude angle, and speed to obtain the tracking results of the underwater robot. The finite time extended State observer is used to detect the navigation environment parameters, combine the tracking results of the current robot state, calculate the robot motion control quantity, and complete the precise tracking control function of the system with the support of the hardware system. Through system testing experiments, it is concluded that the average position tracking error of the underwater robot in the static water environment scenario is 14m, the average angle control error is 0.10 °, and the navigation speed control error is 0.5m/s; The average position tracking error of the underwater robot in the dynamic water environment scenario is 15m, the average angle control error is 0.10 °, and the navigation speed control error is 0.5m/s.