Underwater Manipulator Linear Active Disturbance Rejection Control Based on Hierarchical Cascaded Linear Extended State Observer
Addressing the challenges of strong coupling, nonlinearity, and time-varying characteristics in underwater manipulator systems, along with the inevitable environmental disturbances such as gravity, buoyancy, and hydrodynamic forces that reduce system state convergence speed and affect control perfor...
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2024-01-01
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| Online Access: | https://ieeexplore.ieee.org/document/10707276/ |
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| author | Yulong Xu Kailan Gao Xuelin Wang Qian Li Changlin Wang Peng Wang |
| author_facet | Yulong Xu Kailan Gao Xuelin Wang Qian Li Changlin Wang Peng Wang |
| author_sort | Yulong Xu |
| collection | DOAJ |
| description | Addressing the challenges of strong coupling, nonlinearity, and time-varying characteristics in underwater manipulator systems, along with the inevitable environmental disturbances such as gravity, buoyancy, and hydrodynamic forces that reduce system state convergence speed and affect control performance, an underwater manipulator dynamic model integrating the Lagrange equation, Morison equation, and nonlinear friction forces is built. A linear active disturbance rejection control (LADRC) strategy incorporating a hierarchical cascade linear extended state observer (HCLESO) is proposed. According to LADRC theory, the underwater manipulator system is approximated as an independent subsystem, which reduces the coupling effect between each joint of the manipulator arm. To address the incomplete estimation issue of the Linear Extended State Observer (LESO), a HCLESO is designed to estimate the total system disturbance, suppress high-frequency measurement noise, and reduce the disturbance observation residual, thereby improving the control precision and robustness of the underwater manipulator. The simulation results indicate that the proposed control strategy significantly improves system performance in terms of smaller control inputs, reduced overshoot, and lower steady-state errors. Compared to conventional PD control, the proposed strategy exhibits superior control accuracy and faster response. Compared to the standard LADRC, the introduction of HCLESO provides notable enhancements. With HCLESO (<inline-formula> <tex-math notation="LaTeX">$p=2$ </tex-math></inline-formula>), the Integral of Absolute Error (IAE) for joints <inline-formula> <tex-math notation="LaTeX">$q_{1}$ </tex-math></inline-formula> and <inline-formula> <tex-math notation="LaTeX">$q_{2}$ </tex-math></inline-formula> is reduced by 50.1% and 64.0%, respectively, while the Integral of Time-weighted Absolute Error (ITAE) decreases by 36.2% and 50.0%. Further improvements are observed with HCLESO (<inline-formula> <tex-math notation="LaTeX">$p=3$ </tex-math></inline-formula>), where the IAE for joints <inline-formula> <tex-math notation="LaTeX">$q_{1}$ </tex-math></inline-formula> and <inline-formula> <tex-math notation="LaTeX">$q_{2}$ </tex-math></inline-formula> is reduced by 50.1% and 65.1%, respectively, and the ITAE by 46.2% and 57.8%. |
| format | Article |
| id | doaj-art-ab7155e44ff44bb489e120f7cf2e0ba4 |
| institution | OA Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
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| series | IEEE Access |
| spelling | doaj-art-ab7155e44ff44bb489e120f7cf2e0ba42025-08-20T01:47:50ZengIEEEIEEE Access2169-35362024-01-011214805714807310.1109/ACCESS.2024.347627810707276Underwater Manipulator Linear Active Disturbance Rejection Control Based on Hierarchical Cascaded Linear Extended State ObserverYulong Xu0https://orcid.org/0009-0007-3838-4467Kailan Gao1Xuelin Wang2https://orcid.org/0000-0002-4934-5494Qian Li3https://orcid.org/0009-0002-7975-873XChanglin Wang4https://orcid.org/0009-0005-0719-1676Peng Wang5https://orcid.org/0009-0001-7277-0018Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Jinan, ChinaInstitute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Jinan, ChinaInstitute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Jinan, ChinaInstitute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Jinan, ChinaInstitute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Jinan, ChinaShandong Institute for Product Quality Inspection, Jinan, ChinaAddressing the challenges of strong coupling, nonlinearity, and time-varying characteristics in underwater manipulator systems, along with the inevitable environmental disturbances such as gravity, buoyancy, and hydrodynamic forces that reduce system state convergence speed and affect control performance, an underwater manipulator dynamic model integrating the Lagrange equation, Morison equation, and nonlinear friction forces is built. A linear active disturbance rejection control (LADRC) strategy incorporating a hierarchical cascade linear extended state observer (HCLESO) is proposed. According to LADRC theory, the underwater manipulator system is approximated as an independent subsystem, which reduces the coupling effect between each joint of the manipulator arm. To address the incomplete estimation issue of the Linear Extended State Observer (LESO), a HCLESO is designed to estimate the total system disturbance, suppress high-frequency measurement noise, and reduce the disturbance observation residual, thereby improving the control precision and robustness of the underwater manipulator. The simulation results indicate that the proposed control strategy significantly improves system performance in terms of smaller control inputs, reduced overshoot, and lower steady-state errors. Compared to conventional PD control, the proposed strategy exhibits superior control accuracy and faster response. Compared to the standard LADRC, the introduction of HCLESO provides notable enhancements. With HCLESO (<inline-formula> <tex-math notation="LaTeX">$p=2$ </tex-math></inline-formula>), the Integral of Absolute Error (IAE) for joints <inline-formula> <tex-math notation="LaTeX">$q_{1}$ </tex-math></inline-formula> and <inline-formula> <tex-math notation="LaTeX">$q_{2}$ </tex-math></inline-formula> is reduced by 50.1% and 64.0%, respectively, while the Integral of Time-weighted Absolute Error (ITAE) decreases by 36.2% and 50.0%. Further improvements are observed with HCLESO (<inline-formula> <tex-math notation="LaTeX">$p=3$ </tex-math></inline-formula>), where the IAE for joints <inline-formula> <tex-math notation="LaTeX">$q_{1}$ </tex-math></inline-formula> and <inline-formula> <tex-math notation="LaTeX">$q_{2}$ </tex-math></inline-formula> is reduced by 50.1% and 65.1%, respectively, and the ITAE by 46.2% and 57.8%.https://ieeexplore.ieee.org/document/10707276/Underwater manipulatorrobustnesshierarchical cascadeextended state observerlinear active disturbance rejection control |
| spellingShingle | Yulong Xu Kailan Gao Xuelin Wang Qian Li Changlin Wang Peng Wang Underwater Manipulator Linear Active Disturbance Rejection Control Based on Hierarchical Cascaded Linear Extended State Observer IEEE Access Underwater manipulator robustness hierarchical cascade extended state observer linear active disturbance rejection control |
| title | Underwater Manipulator Linear Active Disturbance Rejection Control Based on Hierarchical Cascaded Linear Extended State Observer |
| title_full | Underwater Manipulator Linear Active Disturbance Rejection Control Based on Hierarchical Cascaded Linear Extended State Observer |
| title_fullStr | Underwater Manipulator Linear Active Disturbance Rejection Control Based on Hierarchical Cascaded Linear Extended State Observer |
| title_full_unstemmed | Underwater Manipulator Linear Active Disturbance Rejection Control Based on Hierarchical Cascaded Linear Extended State Observer |
| title_short | Underwater Manipulator Linear Active Disturbance Rejection Control Based on Hierarchical Cascaded Linear Extended State Observer |
| title_sort | underwater manipulator linear active disturbance rejection control based on hierarchical cascaded linear extended state observer |
| topic | Underwater manipulator robustness hierarchical cascade extended state observer linear active disturbance rejection control |
| url | https://ieeexplore.ieee.org/document/10707276/ |
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