Research on Sliding Mode Control of Underwater Vehicle-Manipulator System Based on an Exponential Approach Law

Abstract

To improve the performance of underwater vehicle-manipulator system (UVMS), which is subject to system uncertainties and time-varying external disturbances in trajectory tracking control, a sliding mode controller is proposed in this paper. Firstly, in order to reduce a influence of system uncertainties and external disturbances, a sliding mode controller is designed based on an exponential approach law. Then the error asymptotic convergence of the trajectory tracking control is proven by the Lyapunov-like function. Finally, the effectiveness of the sliding mode controller is verified by rich simulation. Results show that the designed controller can not only realize the coordination control of UVMS accurately, but also can eliminate the chattering of control signal.

Research on Adaptive Sliding Mode Control of UVMS Based on Nonlinear Disturbance Observation

“…In order to reduce the influence of UVMS in trajectory tracking control by external unknown disturbances and system coupling effects, PID sliding mode control [14], exponential method (SMC-EAL) sliding mode control [15], adaptive sliding mode control [16], inversion sliding mode control [17], integral sliding mode control [18], fuzzy sliding mode control [19], and other methods have been proposed one after another and achieved excellent control effects in the simulation stage. Wang et al [20] combined sliding mode control and adaptive fuzzy control to form a multistrategy fusion control, which solved the motion variable control problem of UVMS low-speed maneuvering, minimized the controller's dependence on the UVMS accurate model, and reduced the design cost of groundbreaking.…”