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- Title
基于有限时间干扰观测器的改进模型水下机器人 自适应鲁棒容错控制.
- Authors
唐军; 陈善颖; 谢彬; 钱明炎
- Abstract
Aiming at the actuator failure in the work of unmanned underwater vehicle (UUV), an adaptive robust fault-tolerant control method based on finite time disturbance observer (FTDO) and improved model was proposed under system uncertainty and external interference. On the one hand, the external environmental interference could be estimated by FTDO in a limited time. On the other hand, sliding mode control and the universal approximation characteristics of radial basis function neyral network(RBF) were used to establish input compensation with actuator fault. Among them, the input saturation caused by system uncertainty was solved by the improved model, which improved the stability and robustness. Secondly, a new type of double-power approximation law was adopted to make the sliding modulus converge to the steady-state error range in a shorter time. The simulation and pool experimental results show that the proposed method has a better fault tolerance effect than the sliding mode control.
- Publication
Science Technology & Engineering, 2024, Vol 24, Issue 11, p4574
- ISSN
1671-1815
- Publication type
Article
- DOI
10.12404/j.issn.1671-1815.2302720