非線形モデルオブザーバを用いたスラスタ駆動式水中回転弾性アームの位置決め

概要

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For an underwater robot controller, nonlinearity in the system is a critical problem. The nonlinearity is too strong for control techniques based on a linear model even when robust controllers are designed. A sliding mode control technique is of considerable interest due to its capability to deal with nonlinear systems. However, there is no simple, suitable observer for the nonlinear model. In this study, focussing on a second power nonlinearity, a nonlinear model observer is derived by improving the variable structure systems (VSS) observer for a linear model. Using this observer, a positioning controller of an underwater flexible rotating arm driven by a thruster is developed to which the sliding mode control technique is applied. Through computer simulations, it is shown that the nonlinear model observer is able to accurately estimate the thrust of the thruster, which could not be estimated by the VSS observer. In addition, the performance of the developed control system is confirmed by positioning experiments.
一般社団法人日本機械学会の論文
1997-05-25