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Adaptive nonsingular fast terminal sliding mode control for underwater manipulator robotics with asymmetric saturation actuators
ZengchengZHOU,GuoyuanTANG,HuiHUANG,LijunHAN,RuikunXU
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(School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan Hubei 430074, China;School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan Hubei 430074, China; Collaborative Innovation Center for Advanced Ship and Deep-sea Exploration (CISSE), Wuhan Hubei 430074, China)
摘要:
In this paper, an adaptive nonsingular fast terminal sliding mode control (ANFTSMC) is proposed for underwater manipulator robotics with asymmetric actuator saturations and unknown time-varying (TV) external disturbances. Firstly, the nonsingular fast terminal sliding mode (NFTSM) control scheme is conducted for the underwater manipulator robotics, which guarantees the boundedness of all the signals in the control system. Secondly, the adaptive method and the smooth hyperbolic tangent (tanh) function are introduced to address the unknown TV external disturbances and the input saturation errors. Thus the prior knowledge about the upper bounds of the system uncertainties is not needed in this paper. To deal with the nonlinear asymmetric input saturation issue, a Gaussian error function is employed in the asymmetric saturation module so that the discontinuous input signals can be transformed into smooth forms. Thirdly, the rigorous mathematical verification is conducted to demonstrate the stability and finite-time convergence of the closed-loop control system via the Lyapunov theory. Finally, numerical simulations are performed on a two-link underwater manipulator robotic system to illustrate the effectiveness of the proposed controller.
关键词:  Finite time stability, sliding mode control, asymmetric saturation, underwater manipulator, Gaussian error function
DOI:https://doi.org/10.1007/s11768-020-9127-0
基金项目:This work was supported by the National Natural Science Foundation of China (No. 51979116), the HUST Interdisciplinary Innovation Team Project, the Innovation Foundation of Maritime Defense Technologies Innovation Center and the Fundamental Research Funds for the Central Universities (HUST: 2018JYCXJJ045, HUST: 2018KFYYXJJ012).
Adaptive nonsingular fast terminal sliding mode control for underwater manipulator robotics with asymmetric saturation actuators
Zengcheng ZHOU,Guoyuan TANG,Hui HUANG,Lijun HAN,Ruikun XU
(School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan Hubei 430074, China;School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan Hubei 430074, China; Collaborative Innovation Center for Advanced Ship and Deep-sea Exploration (CISSE), Wuhan Hubei 430074, China)
Abstract:
In this paper, an adaptive nonsingular fast terminal sliding mode control (ANFTSMC) is proposed for underwater manipulator robotics with asymmetric actuator saturations and unknown time-varying (TV) external disturbances. Firstly, the nonsingular fast terminal sliding mode (NFTSM) control scheme is conducted for the underwater manipulator robotics, which guarantees the boundedness of all the signals in the control system. Secondly, the adaptive method and the smooth hyperbolic tangent (tanh) function are introduced to address the unknown TV external disturbances and the input saturation errors. Thus the prior knowledge about the upper bounds of the system uncertainties is not needed in this paper. To deal with the nonlinear asymmetric input saturation issue, a Gaussian error function is employed in the asymmetric saturation module so that the discontinuous input signals can be transformed into smooth forms. Thirdly, the rigorous mathematical verification is conducted to demonstrate the stability and finite-time convergence of the closed-loop control system via the Lyapunov theory. Finally, numerical simulations are performed on a two-link underwater manipulator robotic system to illustrate the effectiveness of the proposed controller.
Key words:  Finite time stability, sliding mode control, asymmetric saturation, underwater manipulator, Gaussian error function