In order to deal with the control problem of nonlinear underwater vehicle-manipulator system (UVMS) and overcome its lumped disturbances including the unmodeled uncertainties and external disturbances, this paper proposes an intelligent biomimetic control scheme. In this scheme, we firstly deduce the UVMS nonlinear dynamic equations to a linear error state-space model in case of the disturbances. Secondly, an H-infinity robust control scheme optimized by Grey Wolf Optimizer (GWO) is designed to make the system robustly work to overcome these lumped disturbances. As the conventional H-infinity robust controller is difficult to tune its weighted matrices, for solving the problem, the GWO is applied to find out the system best sub-optimal performance for controlling the UVMS. Finally, we make some simulations and conclude that the proposed intelligent biomimetic controller can satisfy the design requirements of controlling the UVMS, such as the rapid response, the accurate tracking reference, the control system stability and the disturbance attenuation.
An Intelligent H-Infinity Controller for Underwater Vehicle-Manipulator System
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 5 ; 45-53
2022-03-18
9 pages
Article/Chapter (Book)
Electronic Resource
English
An Intelligent H-Infinity Controller for Underwater Vehicle-Manipulator System
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