[Objective]This paper seeks to solve the problem of the partial failure of the actuator of an un-derwater salvage robot caused by a decrease in the shipborne power supply voltage or corrosion of the control system circuit.[Methods]Considering the influence of complex ocean conditions on deep-sea torpedoes,cargo shipwrecks,and other engineering salvage operations,the terminal sliding mode observer is used to ob-serve the uncertain disturbance of the system,while the fault-tolerant control method and finite-time control method are used to estimate the fault coefficient of the actuator on-line,and a finite-time trajectory tracking fault-tolerant control scheme with a terminal sliding mode observer is designed.[Result]The system output of this scheme is smooth,stable,and can reach the desired trajectory quickly.At the same time,compared with the traditional fault-tolerant control scheme,the steady-state time of the underwater salvage robot's control sys-tem is reduced(the lateral displacement is reduced by 10 s and the longitudinal displacement by 15 s).[Conclusion]This study has practical engineering significance and can provide theoretical references for the trajectory tracking of underwater construction machinery.
关键词
水下打捞机器人/终端滑模/轨迹跟踪/执行器部分失效
Key words
underwater salvage robot/terminal sliding mode/trajectory tracking/partial failure of actuator
维普
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