Adaptive-Disturbance-Observer Based Backstepping Control for Underwater Vehicle-Manipulator Systems

To resolve problems involving undersea vehicle-manipulator systems(UVMSs) with coupling terms, model uncertainties, and disturbances, an adaptive-disturbance-observer-based backstepping control method is proposed. Ocean multi-source disturbances are described by a linear exosystem and an adaptive di...

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Bibliographic Details
Published in水下无人系统学报 Vol. 31; no. 3; pp. 413 - 420
Main Authors Dongdong HOU, Junmin DU, Liping QIN, Kai WANG, Huixiang JING, Guanghua LI
Format Journal Article
LanguageChinese
Published Science Press (China) 01.06.2023
Subjects
adaptive disturbance observer
backstepping control
undersea vehicle-manipulator system
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ISSN2096-3920
DOI10.11993/j.issn.2096-3920.2022-0011

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Summary:To resolve problems involving undersea vehicle-manipulator systems(UVMSs) with coupling terms, model uncertainties, and disturbances, an adaptive-disturbance-observer-based backstepping control method is proposed. Ocean multi-source disturbances are described by a linear exosystem and an adaptive disturbance observer is presented to estimate the disturbances. To address saturation of the actuators, an auxiliary dynamic system is given. A backstepping control method is then presented to ensure that the closed-loop tracking system is bounded by the Lyapunov theory. Finally, simulations are conducted on a kind of UVMS with two joints, and the simulation results demonstrate that the proposed method exhibits better performance in terms of trajectory tracking and antidisturbance than the traditional proportional-integral-derivative control method.
ISSN:2096-3920
DOI:10.11993/j.issn.2096-3920.2022-0011