摘要
针对水下机器人模型不确定性,且在实际运行过程中会受到各种不确定的干扰,因此利用自抗扰控制器不依赖于系统模型的参数,其可以实时评估和补偿内外部扰动的特点,对水下机器人进行控制。通过对水下仿机器人系统的仿真验证,从仿真结果中可以看出,所设计的控制器取得了较为优良的控制性能,具有较好的鲁棒性和抗干扰能力,具有一定的实用价值及借鉴意义。
Aiming at the problem that underwater bionic robots are susceptible to external uncertain interference and difficult to accurately model,the use of auto disturbance rejection controllers does not depend on the parameters of the system model,which can real-time evaluate and make up for the distinguishing features of internal and external obstructs in real time,and perform the dominate,thereby improving the control performance of the underwater robot.Through the simulation verification of the underwater robot system,it can be seen from the simulation results that the designed controller has achieved relatively good control effects,has good robustness and anti-interference ability,and has certain practical value and Reference meaning.
作者
翟光雯
吴贞犇
Zhai Guangwen;Wu Zhenben(Wuhu Science and Technology Museum,Anhui Wuhu 241000;Anhui Polytechnic University,Anhui Wuhu 241000)
关键词
水下机器人
自抗扰控制
扩张状态观测器
underwater bionic robot
active disturbance rejection control
extended state observer
