This paper presents new motion planning and robust coordinated control schemes for trajectory tracking of the underwater vehicle-manipulator system (UVMS) subjected to model uncertainties, time-varying external disturbances, payload and sensory noises. A redundancy resolution technique with a new secondary task and nonlinear function is proposed to generate trajectories for the vehicle and manipulator. In this way, the vehicle attitude and manipulator position are aligned in such a way that the interactive forces are reduced. To resist sensory measurement noises, an extended Kalman filter (EKF) is utilized to estimate the UVMS states. Using these estimates, a tracking controller based on feedback Linearization with both the joint-space and task-space tracking errors is proposed. Moreover, the inertial delay control (IDC) is incorporated in the proposed control scheme to estimate the lumped uncertainties and disturbances. In addition, a fuzzy compensator based on these estimates via IDC is introduced for reducing the undesired effects of perturbations. Trajectory tracking tasks on a five-degrees-of-freedom (5-DOF) underwater vehicle equipped with a 3-DOF manipulator are numerically simulated. The comparative results demonstrate the performance of the proposed controller in terms of tracking errors, energy consumption and robustness against uncertainties and disturbances.

中文翻译：

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惯性时滞和模糊补偿的水下机器人系统的运动规划与协调控制。

本文针对模型不确定性，时变外部干扰，有效载荷和感官噪声，提出了用于水下车辆操纵器系统（UVMS）轨迹跟踪的新运动规划和鲁棒协调控制方案。提出了一种具有新的次要任务和非线性功能的冗余解析技术，以生成车辆和机械手的轨迹。以这种方式，车辆姿态和操纵器位置以减小相互作用力的方式对准。为了抵抗感官测量噪声，扩展卡尔曼滤波器（EKF）用于估计UVMS状态。利用这些估计，提出了一种基于反馈线性化的关节空间和任务空间跟踪误差的跟踪控制器。此外，惯性延迟控制（IDC）被纳入提出的控制方案中，以估计集总的不确定性和干扰。另外，引入了基于这些估计的模糊补偿器（通过IDC），以减少不希望的扰动影响。数值模拟了装备有3自由度机械手的5自由度（5-DOF）水下航行器的轨迹跟踪任务。比较结果证明了所提出的控制器在跟踪误差，能耗以及针对不确定性和干扰的鲁棒性方面的性能。对配备有3自由度机械手的五自由度（5-DOF）水下航行器的轨迹跟踪任务进行了数值模拟。比较结果证明了所提出控制器的跟踪误差，能耗以及对不确定性和干扰的鲁棒性。对配备有3自由度机械手的五自由度（5-DOF）水下航行器的轨迹跟踪任务进行了数值模拟。比较结果证明了所提出控制器的跟踪误差，能耗以及对不确定性和干扰的鲁棒性。