Research on Trajectory Tracking Control of Underwater Vehicle Manipulator System Based on Model-Free Adaptive Control Method

In order to improve the trajectory tracking accuracy of an Underwater Vehicle Manipulator System (UVMS) under uncertain disturbance conditions ocean current, a Model-free Adaptive Control (MFAC) method was used. Combined with Radial Basis Function Neural Networks (RBFNN), RBFNN-MFAC is proposed performance controller. A hydrodynamic model UVMS defined in commercial software, Fluent, calculate hydrodynamics disturbance, and mechanism dynamic Adams, simulate motion UVMS. The various control schemes, including PID (Proportional Integral Derivative), MFAC RBFNN-MFAC, were analyzed Adams Simulink joint simulation model. results show that position speed scheme 68.1% 81.0% better, respectively, than those scheme. 66.3% 43.1% this paper exhibit good without precise UVMS, which great importance applications engineering.