【摘要】 采用水下机械臂来对航行器进行捕获是实现水下无人航行器回收的重要作业方式。但由于水下环境的复杂性，水下机械臂存在末端跟踪精度低、稳定性差以及抗干扰能力弱等问题。文中对以上问题进行分析，以简化的三自由度机械臂为研究对象，首先建立了机械臂的数学模型，在此基础上提出一种自适应快速终端滑模的控制方法，进行了控制器的设计和稳定性分析。最后，利用MATLAB进行了机械臂轨迹跟踪控制仿真实验，并横向对比了基于RBF（径向基）神经网络分块逼近的控制方法，仿真结果表明，该控制方法具有控制稳定、末端跟踪精度高、抗干扰能力强的特点。更多还原

【Abstract】 Underwater manipulator is a powerful tool for human beings to engage in complex underwater operations.Nowadays, it has been widely used in underwater scientific research and marine engineering, and other fields. However, due to the complexity of the underwater environment, there are problems such as low-end tracking accuracy, poor stability, and weak anti-interference capacity of the underwater manipulator. For such problems, this paper takes a simplified 3-DOF manipulator as the research object. Firstly, the mathematical model of the manipulator is established. Then, an adaptive fast terminal sliding mode control method is proposed, and the controller design and stability analysis are carried out. Finally, the manipulator trajectory tracking control simulation is carried out using MATLAB, and the control method based on RBF neural network block approximation is compared with the method proposed in this paper. The simulation results show that the control method studied in this paper has the characteristics of stable control, high-end tracking accuracy, and strong anti-interference ability.更多还原