Hu Xincheng, Shen Chong, Huang Fanghao, Mei Deqing, Chen Zheng
State Key Laboratory of Ocean Sensing, Zhejiang University, Hangzhou, 310058, China; Ocean College, Zhejiang University, Zhoushan, 316021, China.
State Key Laboratory of Ocean Sensing, Zhejiang University, Hangzhou, 310058, China; Ocean College, Zhejiang University, Zhoushan, 316021, China.
ISA Trans. 2025 Nov;166:266-279. doi: 10.1016/j.isatra.2025.07.005. Epub 2025 Jul 7.
The underwater electric manipulator is potentially complemented to perform high-accuracy underwater operations, owing to the high accuracy and rapid response of motor-driven mechanisms. However, some special designs for sealing and pressure resistance in underwater environments result in increased joint-friction, model nonlinearity, and parameter uncertainty. Therefore, this paper proposes a model-based adaptive robust control design of underwater electric manipulators, with joint-friction compensation for precise tracking performance. Specifically, an adaptive robust controller with the basic dynamics model is designed firstly to ensure essential tracking performance. Additionally, joint-friction characteristics are meticulously considered to construct an improved LuGre model. This is followed by the parameter identification and the formulation of an additional joint-friction desired compensation control law. In comparative underwater experiments, it is verified that the proposed controller can effectively address model nonlinearity and parameter uncertainty with joint-friction compensation, thereby achieving precise tracking performance.
由于电机驱动机构具有高精度和快速响应的特点，水下电动机械手在执行高精度水下作业方面具有潜在的优势。然而，水下环境中的一些特殊密封和耐压设计导致关节摩擦力增加、模型非线性和参数不确定性。因此，本文提出了一种基于模型的水下电动机械手自适应鲁棒控制设计方法，通过关节摩擦补偿实现精确跟踪性能。具体来说，首先设计了一个基于基本动力学模型的自适应鲁棒控制器，以确保基本的跟踪性能。此外，精心考虑关节摩擦特性，构建了一个改进的LuGre模型。接着进行参数辨识，并制定了额外的关节摩擦期望补偿控制律。在对比水下实验中，验证了所提出的控制器能够通过关节摩擦补偿有效地解决模型非线性和参数不确定性问题，从而实现精确的跟踪性能。
