基于自适应扰动观测器的水下清淤机器人容错控制-《集美大学学报（自然科学版）》

文章信息/Info

Title:: Fault-Tolerant Control of Underwater Dredging Robot Based on Adaptive Disturbance Observer

Author(s):: ZHANG Zehui; (College of Transportation and Navigation,Quanzhou Normal University,Quanzhou,362000)

Keywords:: underwater dredging robot; fault-tolerant control; trajectory tracking; adaptive disturbance observer

摘要:: 针对履带式水下清淤机器人在沉井作业过程中所遭遇的外界时变干扰和执行器故障问题，本文提出了一种基于自适应扰动观测器的容错控制方案。该方案利用自适应扰动观测器来实时监测和补偿外界扰动以及系统内部执行器的偏置故障，提高系统的稳定性和鲁棒性。此外，设计了解耦自适应律，并采用深度信息鲁棒自适应技术来逼近系统的失效故障，进一步提高了系统的容错性能。通过采用Lyapunov稳定性理论，对所提出的控制方案进行详尽的稳定性分析。仿真验证证明了所提出的控制方案在应对外界干扰和执行器故障方面的有效性和可靠性。

Abstract:: Aiming at the problems of external time-varying disturbances and actuator faults encountered by the crawler-type underwater dredging robot during caisson operations,this paper proposes a fault-tolerant control scheme based on an adaptive disturbance observer.This solution uses an adaptive disturbance observer to real-time monitor and compensate for external disturbances and bias faults of the system’s internal actuators,improving the stability and robustness of the system.In addition,a decoupled adaptive law was designed,and deep information robust adaptive technology was used to approximate system loss-of-effectiveness faults,further improving the system’s fault-tolerant performance.A detailed stability analysis of the proposed control scheme was performed by adopting Lyapunov stability theory.Finally,through sufficient simulation verification,the effectiveness and reliability of the proposed control scheme in dealing with external interference and actuator failure were proved.