Abstract
In this study, a method of active disturbance rejection controller (ADRC) is presented for 2-DOF underwater manipulator. The ADRC basically does not rely on the accurate mathematical model of the object and can decouple the model. This method can eliminate the influence of model errors, time-varying parameters and external interference on the control effect. Firstly, the manipulators is divided into two subsystems. For each joint subsystem, the hydrodynamic force, coupling term between joints and unknown environment disturbances are considered as the total disturbance. Subsequently, an extended state observer (ESO) is designed to estimate and compensate the total disturbance. Moreover, in order to improve the disturbance observation effect of the extended state observer, the inertia matrix of the manipulator system is used to decouple the static part. Finally, the effectiveness of ADRC is verified by simulation and it is demonstrated that ADRC’s control effect outperforms PD and CSMC in either accuracy, dynamic characteristics or robustness.
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Acknowledgements
This work is supported by the projects of National Natural Science Foundation of China (No. 61873192; No. 61603277; No. 61733001), the Quick Support Project (No. 61403110321), and Innovative Project No. 20-163-00-TS-009-125-01). Meanwhile, this work is also partially supported by the Fundamental Research Funds for the Central Universities and the Youth 1000 program project. It is also partially sponsored by International Joint Project Between Shanghai of China and Baden-Wrttemberg of Germany (No. 19510711100) within Shanghai Science and Technology Innovation Plan, as well as the projects supported by China Academy of Space Technology and Launch Vehicle Technology. All these supports are highly appreciated.
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Tang, Q., Jin, D., Hong, Y., Guo, J., Li, J. (2021). Active Disturbance Rejection Control of Underwater Manipulator. In: Tan, Y., Shi, Y. (eds) Advances in Swarm Intelligence. ICSI 2021. Lecture Notes in Computer Science(), vol 12690. Springer, Cham. https://doi.org/10.1007/978-3-030-78811-7_10
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DOI: https://doi.org/10.1007/978-3-030-78811-7_10
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