Position and Attitude Control of Multi-Modal Underwater Robots Using an Improved LADRC Based on Sliding Mode Control
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View abstract on PubMed
Summary
This summary is machine-generated.This study introduces a novel control scheme for multi-modal underwater robots, enhancing deep-sea mining operations. The sliding mode-active disturbance rejection control (SM-ADRC) effectively manages uncertainty and disturbances while reducing overshoot and chatter.
Area Of Science
- Robotics
- Control Systems
- Ocean Engineering
Background
- Deep-sea mining requires robust underwater robots capable of operating in uncertain environments.
- Traditional control methods struggle with model uncertainties and external disturbances common in deep-sea operations.
Purpose Of The Study
- To develop an advanced control strategy for multi-modal underwater robots used in deep-sea mining.
- To address challenges like model uncertainty, external disturbances, overshoot, and chattering in robot control.
Main Methods
- Proposed an improved sliding mode-active disturbance rejection control (SM-ADRC) scheme.
- Introduced a piecewise fhan function in the tracking differentiator (TD) to reduce overshoot.
- Enhanced sliding mode control (SMC) with an integral sliding surface for accuracy and a saturation function to mitigate chattering.
- Integrated linear extended state observer (LESO) estimates for feedforward compensation.
Main Results
- The SM-ADRC scheme demonstrated significant improvements in dynamic response.
- Enhanced disturbance suppression capabilities were observed.
- Effective suppression of high-frequency chattering inherent in sliding mode control was achieved.
- Simulation experiments verified the effectiveness of the proposed control strategy.
Conclusions
- The developed SM-ADRC offers a superior control solution for multi-modal underwater robots in demanding deep-sea environments.
- This advanced control method enhances operational reliability and efficiency for deep-sea mining tasks.
- The study successfully mitigated key control challenges, paving the way for more effective underwater robotic applications.
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