DOI：10.3969/j.issn.1672-3872.2026.05.038
作 者：朱 栩1 ，仝思佳2（1. 江苏省陶都中等专业学校现代制造系，江苏 无锡 214200；2. 江苏理工学院机械工程学院，江苏 常州 213000）
摘 要：随着海洋工程与深海探测技术的发展，水下机械臂在复杂水下环境中的精准作业需求日益迫切。基于此，文章提出基于模糊补偿的水下机械臂自适应控制策略，这是一种将模糊逻辑的非线性处理能力与自适应控制的参数自调整能力相结合的控制方法。首先利用SolidWorks建立了机械臂三维模型，然后在MATLAB中构建了含流体动力项的水下机械臂动力学模型，提出基于模糊补偿的自适应控制方法。再利用MATLAB/Simulink进行仿真验证，分析轨迹跟踪精度、抗扰动能力。结果表明，与现有的控制策略相比，该策略无需精确的机械臂动力学模型，能够在线处理模型不确定性和外部扰动，具有更强的适应性和鲁棒性。
关键词：水下机械臂；模糊补偿；自适应控制；MATLAB
Adaptive Control of Underwater Manipulator Based on Fuzzy Compensation
Author: Zhu Xu1 , Tong Sijia2
(1.Jiangsu Taodu Secondary Vocational School Department of Modern Manufacturing, Wuxi 214200, China; 2.Jiangsu University of Technology School of Mechanical Engineering, Changzhou 213000, China)
Abstract: With the development of ocean engineering and deep-sea exploration technology, the demand for precise operation of underwater manipulator in complex underwater environment is becoming more and more urgent. Based on this, this paper proposes an adaptive control strategy of underwater manipulator based on fuzzy compensation, which is a control method that combines the nonlinear processing ability of fuzzy logic with the parameter self-adjustment ability of adaptive control. Firstly, the three-dimensional model of the manipulator is established by SolidWorks, and then the dynamic model of the underwater manipulator with fluid dynamic term is constructed in MATLAB, and an adaptive control method based on fuzzy compensation is proposed. MATLAB/Simulink is used to simulate and verify the trajectory tracking accuracy and anti-disturbance ability. The results show that compared with the existing control strategies, this strategy does not require an accurate dynamic model of the manipulator, and can deal with model uncertainties and external disturbances online, which has stronger adaptability and robustness.
Keywords: underwater manipulator; fuzzy compensation; adaptive control; MATLAB
引文信息：[1]朱栩，仝思佳.基于模糊补偿的水下机械臂自适应控制[J].南方农机，2026，57(5)：146-149.
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