Stability control of adsorption robot considering external disturbance and parameter uncertainty using RMPC

This paper mainly studies the stability of a sea cucumber adsorption robot (SCAR) under external disturbances and parameter uncertainty. As a fishing robot with a suction effect, a dynamic model of its vertical operation is established, taking into account the mechanical structure of its suction port and the surrounding flow conditions. Specifically, robust model predictive control (RMPC) is adopted to ensure that the device maintains excellent stability in complex underwater environments. Considering the simplification of the model structure and real-time control, a discrete nominal model with the introduction of a feedback correction mechanism is designed to be close to the actual system. In the process of control design, the upper bound of robot speed and propeller saturation have been taken into account, and the optimization functions to reduce input consumption of the propellers are also provided at the same time. Furthermore, the feasibility of the recursive structure and the stability of the closed-loop structure are proved. Importantly, the external factors including disturbance sources obtained from pool experiments are subjected to our consideration. In total, the simulation results and comparative analysis are evidenced by the practicality of the designed vehicle and the effectiveness of the established methodology.