Abstract
The trajectory tracking of Underwater Vehicle Manipulator system (UVMS) under hydrodynamic, parameter uncertainties, unknown disturbance is studied in this paper. A novel nonsingular fast terminal sliding mode surface (NFTSM) control is proposed to achieve the trajectory tracking of UVMS. The proposed controller consists of two parts: (1) In order to solve the disturbances (current and payload), a novel NFTSM surface is designed. Then an equivalent control is provided based on the nominal dynamics of UVMS. It is robust to external disturbance; hence it enhances the tracking quality. (2) Considering the time-varying properties, an adaptive switching law is adopted through the barrier function. It converges faster, and the motion trajectory and sliding surface are constrained in the predefined compacts. It is also worth pointing out that this adaptive method has fewer parameters to adjust. The validity of the proposed controller is verified by Lyapunov stability theory, and the reliability of the proposed controller is verified in the simulation cases.
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Li, X., Lu, T., Wu, H., Zhu, X., Wang, S., Yang, T. (2023). Adaptive Tracking Control for Underwater Vehicle Manipulator System via a Terminal Sliding Mode and Barrier Function. In: Yang, D. (eds) 2023 International Conference on Marine Equipment & Technology and Sustainable Development. METSD 2023. Lecture Notes in Civil Engineering, vol 375. Springer, Singapore. https://doi.org/10.1007/978-981-99-4291-6_30
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DOI: https://doi.org/10.1007/978-981-99-4291-6_30
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