부산대학교 도서관

This paper addresses the problem of trajectory tracking control for the underwater vehicle manipulator system (UVMS) with parameter uncertainty and external disturbances. An adaptive linear active disturbance rejection control (ALADRC) scheme is proposed by combining ADRC and model-free adaptive control. Firstly, the UVMS dynamics model is discretized and converted into an equivalent dynamic linearization data model. Secondly, a parameter estimation law and an adaptive extended state observer are designed to estimate the pseudo-partial derivative matrix and the total disturbance in the data model respectively. Then, an adaptive LADRC law is designed to compensate the total disturbance to realize the trajectory tracking control. The proposed ALADRC is a typical data-driven solution, which only requires input-output data to achieve effective performance. Furthermore, the stability analysis of the designed control system is given. Finally, the effectiveness of the proposed control scheme is verified by numerical simulations.