【摘要】 针对海上鱼场网衣清洗问题,文中提出了一种水下清洗机器人的反演跟踪控制方法。首先对机器人的运动进行分析,建立了运动学、动力学模型。为了保证机器人在扰动环境下具有良好路径跟踪能力以实现对网箱的有序清洗,将控制系统分为三个子系统,分别定义了位置误差、速度误差、扰动估计误差及各自的李雅普诺夫函数,对每个子系统设计中间虚拟控制量,并导出最终控制律,完成了反演控制器的设计。在MATLAB Simulink环境下建立水下机器人仿真模型,并实现了机器人对规划清洗路径的跟踪控制仿真。仿真结果表明,通过该方法设计的控制器在水下干扰环境下具有良好的鲁棒性,机器人能够较好地跟踪规划清洗路径。更多还原

【Abstract】 To solve the problem of net cleaning in offshore fish farms, this paper proposes a backstepping control method for path tracking of underwater cleaning robots. Motion style of robot is analyzed, consequently kinematic and dynamic model are established. In order to ensure that the robot has a good path tracking performance and clean the net cage in order under a disturbance environment, the control system is divided into three sub-systems; the position error, speed error, disturbance estimation error are respectively defined; Lyapunov functions of their own are established. The intermediate virtual control for each subsystem is designed to derive the final control law, which results in the design of the backstepping controller. Under the MATLAB Simulink environment, the underwater robot simulation model is established, and the robot tracking control simulation for the planned cleaning path is realized. The simulation results show that the proposed method has good robustness in the underwater disturbance environment, and the robot can track the planned path well.更多还原