Research on depth control method for underwater rotorcraft platforms in proximity to the seabed disturbances
Considering the problem of time-varying nonlinear disturbances when underwater rotorcraft platforms are working in close proximity to the seabed,a dynamic surface controller based on a disturbance observer was proposed to achieve depth control of underwater rotorcraft platforms operating near the seabed.Firstly,the kinematic and dynamic models of the underwater rotorcraft platform were established using underwater vehicle modeling theory combined with the Newton-Euler method.Then,the dynamic surface control was employed to handle the system's nonlinearity by incorporating a first-order filter to smooth the virtual control law,thereby replacing intricate differential operations.Simultaneously,nonlinear disturbance observers were used to estimate both internal and external disturbances in the system.The stability of the system was proved by using Lyapunov theory.The simulation experiment was conducted to validate the effectiveness of the proposed control strategy under the random disturbance of white noise simulation and parameter uncertainty.Furthermore,an experimental prototype was developed,and experiments were conducted at different desired depths near the seabed.The results show that under the influence of seabed reactive forces,the proposed control strategy enhances the control precision of both the platform's attitude and depth channels to varying degrees compared to dynamic surface control and cascaded PID control.This indicates that the proposed control method has good robustness and can effectively solve the disturbance in the near water bottom.
underwater rotorcraft platformproximity to the seabed disturbancesdepth controldynamic surface controldisturbance observer
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维普
