Trajectory Tracking Control Of Underwater Salvage Robot Considering Actuator Failure

In order to solve the problem that underwater salvage robot is affected by actuator damage,external uncertainty disturbance and model modeling uncertainty in the process of salvage operation.According to the system structure and operation strategy of claw salvage robot,this paper takes “trajectory tracking control of underwater salvage robot considering actuator failure” as the topic,and fully considers the practical problems in underwater salvage robot engineering.carry out systematic and rigorous theoretical research to further improve the efficiency and safety of underwater salvage robot operations.In this paper,firstly,aiming at the engineering problem of partial failure of actuator and thrust distribution in fault state of underwater salvage robot,and considering the external disturbance working environment,a finite time adaptive terminal sliding mode technology is proposed to establish the control system.The terminal sliding mode observer can track the external time-varying disturbance in real time,quickly feedback the compensation signal of the controller on-line,and use the adaptive technology to compensate the power output of the failure controller.At the same time,the finite time technology is used to enhance the energy output of the control scheme to improve the control efficiency.Finally,to solve the problem that the traditional allocation method is unable to allocate multi-constraint and multi-saturation,the particle swarm iterative optimization algorithm is used for the first time to calculate the virtual three-degree-offreedom control signal of the control system actuator into the thruster output signal.To further optimize the control strategy of the underwater salvage robot,the characteristics of the robot overdrive mechanism are developed to make the control system solve more complex actuator faults and system modeling uncertainties.In this paper,a fault-tolerant trajectory tracking control scheme of overdrive underwater salvage robot based on projection analysis is proposed,which creatively introduces projection isolation strategy to decouple complex faults and fully mobilize system redundancy by magnifying system input.For the first time,the algorithm considers the equipment wear caused by frequent thruster thrust transfer in the process of engineering application,and adopts the dynamic event trigger mechanism to reduce the thruster mobilization of similar thrust.At the same time,the adaptive neural network is adopted to reconstruct and estimate the uncertainties in the process of model construction.The control law designed in this paper is strictly proved by Lyapunov stability theory,and the numerical simulation programming technology is used to verify the effectiveness and stability of the control law.Through rigorous experimental analysis,the experimental results show that the proposed control algorithm can effectively deal with the trajectory tracking control problem of underwater salvage robot actuator failure,and has important engineering significance for the development of underwater vehicle automation.