文章基本信息

标题：Adaptive Nonsingular Fast Terminal Sliding Mode Tracking Control for an Underwater Vehicle-Manipulator System with Extended State Observer
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作者：Lijun Han ; Guoyuan Tang ; Maolin Cheng 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2021
卷号：9
期号：5
页码：501
DOI：10.3390/jmse9050501
语种：English
出版社：MDPI AG
摘要：An adaptive nonsingular fast terminal sliding mode control scheme with extended state observer (ESO) is proposed for the trajectory tracking of an underwater vehicle-manipulator system (UVMS), where the system is subjected to the lumped disturbances associating with both parameter uncertainties and external disturbances. The inverse kinematics for the system is obtained by the quaternion-based closed-loop inverse kinematic algorithm. The proposed controller consists of the modified nonsingular fast terminal sliding mode surface (NFTSMS) and ESO, and the adaptive control law. The utilized NFTSMS can ensure the fast convergence of the tracking errors, together with avoiding the singularity in the derivation. According to the ESO method, the estimation error of the lumped disturbance vector can realize the fixed-time convergence to the origin, along with replacing the sign function with the saturation function to attenuate the chattering. A continuous fractional PI-type robust term with adaptive laws is introduced to handle the unknown bound of the estimation error. The closed-loop system is proved to be asymptotically stable by the Lyapunov theory. Simulations are performed on a ten degree-of-freedom UVMS under four different strategies. Comparative simulation results show that the proposed controller can achieve better tracking performance and stronger robustness of the disturbance rejection.