Underwater robots are vulnerable to interference from water environment factors during movement,and it is necessary to design a precise and stable tracking control system to ensure its accurate navigation.Using limited time expansion state observer to optimize the design of underwater robot precise tracking control system.Design the limited time expansion state observer,underwater robot sensor,tracking controller and propeller,strengthen the sealing and waterproof design of the hardware system,and complete the system hardware design.According to the underwater navigation mission,plan the robot's trajectory and use it as the system con-trol target.Solve the robot's position,attitude angle,speed and other motion parameters to obtain the tracking results of the under-water robots.Combined with the tracking results of the current robot state,the limited time expansion state observer is used to detect the navigation environment parameters,calculate the robot's motion control quantity,and complete the precise tracking control func-tion with the support of the hardware system.Through system testing experiments,it is concluded that the average position tracking error of underwater robots in static water environment scenarios is 14 m,with an average angle control error of 0.100 and a navigation speed control error of 0.5 m/s;The maximum position tracking error of underwater robots in dynamic water environment scenarios is 9 m,with an average angle control error of 0.10°and a navigation speed control error of 0.5 m/s.
关键词
有限时间扩张状态观测器/水下机器人/精准跟踪/机器人控制系统
Key words
finite time extended state observer/underwater robots/precise tracking/robot control system
维普
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