Robust tracking control of an underwater vehicle and manipulator system based on double closed-loop integral sliding mode

摘要

A nonlinear robust control method for the trajectory tracking of the underwater vehicle and manipulator system that operates in the presence of external current disturbances is proposed using double closed-loop integral sliding mode control. The designed controller uses a double closed-loop control structure to track the desired trajectory in the joint space of the underwater vehicle and manipulator system, and its inner and outer loop systems use integral sliding surface to enhance the robustness of the whole system. Then, the continuous switching mode based on hyperbolic tangent function is used instead of the traditional discontinuous switching mode to reduce the chattering of the control input of the underwater vehicle and manipulator system. In addition, the control method proposed in this article does not need to estimate the uncertainties of the underwater vehicle and manipulator system control system through online identification, but also can ensure the robustness of the underwater vehicle and manipulator system motion control in underwater environment. Therefore, it is easier to be implemented on the embedded platform of the underwater vehicle and manipulator system and applied to the actual marine operation tasks. At last, the stability of the control system is proved by the Lyapunov theory, and its effectiveness and feasibility are verified by the simulation experiments in MATLAB software.