基于ROV的滑模变结构抗扰控制算法研究

Research on Sliding Mode Variable Structure Anti-disturbance Control Algorithm Based on ROV

摘要

水下作业型机器人(ROV)因其广泛的作业能力，被广泛应用于海洋和湖泊等领域，如多种型号装备维修保障、海洋装备维修等领域。然而，ROV其本身是一个高度非线性、强耦合和时滞的系统，同时水动力系数的不确定、系统建模误差和参数扰动都会造成动力学的不确定性，加上海底暗流等很多复杂海洋环境干扰，使ROV的抗扰控制成为难题。本文使用滑模变结构控制算法增强ROV的抗扰能力，加上ESO滑模干扰观测器，进一步提高模型抗干扰能力和鲁棒性。

Abstract

Underwater robotic vehicles (ROVs), with their versatile operational capabilities, are extensively deployed in marine and lake environments for equipment maintenance and repair. However, ROVs inherently function as highly nonlinear, strongly coupled, and time-delayed systems. Dynamic uncertainties arise from hydrodynamic coefficient variations, modeling errors, and parameter disturbances, compounded by complex marine interference such as undercurrents, which pose significant challenges to their disturbance rejection control. This study employs sliding mode variable structure control (SMVSC) to enhance ROV’s disturbance resistance, while integrating an ESO sliding mode disturbance observer (ESO-SDO) to further improve model robustness and disturbance tolerance.

关键词

ROV / 滑模算法 / 抗扰控制

Key words

ROV / sliding mode algorithm / disturbance rejection control

参考文献

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