Research on uvms control method based on disturbance observation

As an important tool to explore and develop marine resources, underwater robot manipulator system is widely used in offshore oil engineering, underwater fishing and other industries at home and abroad. But in the complex underwater environment, the anti-interference ability of uvms(Underwater Vehicle Manipulator System) system has always been the focus of current research. This paper aims to start with the commonly used PID control method, design and simulate the active disturbance rejection controller, and compare with the traditional control method. Finally, experiments are carried out on the uvms system in pool and field lake. The experimental results show that the uvms system has stable motion and good maneuverability, and the underwater manipulator can grasp the underwater target quickly and accurately.