Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Journal of Zhejiang University(Engineering Science)》 2018-05
Add to Favorite Get Latest Update

Nonsingular terminal sliding mode control of underwater vehicle-manipulator system

WAGN Yao-yao;GU Lin-yi;CHEN Bai;WU Hong-tao;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics;State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University;  
A novel nonsingular terminal sliding mode control(NTSMC)method based on time delay estimation(TDE)was proposed in order to solve the trajectory tracking control problem of underwater vehicle-manipulator system(UVMS)under the unknown complex lumped disturbance.TDE was used as the baisc framework and the strong roubustness of NTSMC was combined to realize the high performance trajectory tracking control under complex lunmped disturbance.The method can ensure good control performance,strong robustness and easiness for practical applications benefiting from the attractive modelfree feature of TDE and the strong robustness of NTSMC.Comparative 9 degree of freedoms(DOFs)numerical simulations and 7 DOFs pool experimental studies were conducted using a UVMS developed in our laboratory.Results show that the method can ensure better comprehensive control performance compared with the traditional TDE-based control method using the same control gains under the unknown complex lumped disturbance.The former system can ensure a precision of 0.038 mfor the end effector of the UVMS while the latter one can obtain a precision of 0.067 m.
【Fund】: 国家自然科学基金资助项目(51705243 51575256);; 江苏省自然科学基金资助项目(BK20170789);; 浙江大学流体动力与机电系统国家重点实验室开放基金资助项目(GZKF-201606)
【CateGory Index】: TP242
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved