水下机器人-机械手系统非奇异终端滑模控制

针对复杂集总干扰下水下机器人-机械手系统的轨迹跟踪控制难题， 提出基于时延估计的非奇异终端滑模控制方法. 该方法以时延估计为基础架构，利用非奇异终端滑模控制的强鲁棒性， 实现复杂集总干扰下系统高性能的轨迹跟踪控制. 受益于时延估计无需动力学模型的特性和非奇异终端滑模控制的强鲁棒性， 所提算法具有优异的控制性能、良好的鲁棒性和工程易用性. 以实验室搭建的一型水下机器人-机械手系统为研究对象， 展开9自由度数值仿真和7自由度水池试验研究， 结果表明：在未知复杂集总干扰下， 利用相同的控制增益， 所提控制方法相对传统时延估计控制可以保证更优的综合控制性能， 前者系统末端定位精度为0.038 m， 而后者仅为0.067 m.

Nonsingular terminal sliding mode control of underwater vehicle-manipulator system

A novel nonsingular terminal sliding mode control (NTSMC) method based on time delay estimation (TDE) was proposed in order to solve the trajectory tracking control problem of underwater vehicle-manipulator system (UVMS) under the unknown complex lumped disturbance. TDE was used as the baisc framework and the strong roubustness of NTSMC was combined to realize the high performance trajectory tracking control under complex lunmped disturbance. The method can ensure good control performance, strong robustness and easiness for practical applications benefiting from the attractive model-free feature of TDE and the strong robustness of NTSMC. Comparative 9 degree of freedoms (DOFs) numerical simulations and 7 DOFs pool experimental studies were conducted using a UVMS developed in our laboratory. Results show that the method can ensure better comprehensive control performance compared with the traditional TDE-based control method using the same control gains under the unknown complex lumped disturbance. The former system can ensure a precision of 0.038 m for the end effector of the UVMS while the latter one can obtain a precision of 0.067 m.