基于输入和机械手扰动补偿的水下机器人控制实验研究

以搭建的自治水下机器人-机械手系统为对象,通过水池实验分析了载体分系统的响应特性。针对传统的反馈控制在载体控制中的不足,将输入补偿项和机械手扰动补偿项作为载体控制的前馈项,设计了水下机器人复合校正控制器。水池实验验证了方法的可行性和有效性。

An autonomous underwater vehicle-manipulator system(UVMS)is developed,and the vehicle subsystem's response characteristic is analyzed by tank experiments.Due to the deficiency of conventional feedback control,a compound calibration controller is designed,which includes three terms,feedback,in- put compensation and manipulator disturbance compensation term.Experiment results demonstrate the fea- sibility and effectiveness of the proposed method.

国家863计划(2006AA09Z217)