A Time Delay Controller included terminal sliding mode and fuzzy gain tuning for Underwater Vehicle-Manipulator Systems

被引：46

作者：

Esfahani, Hossein Nejatbakhsh ^{[1
]}

Azimirad, Vahid ^{[1
]}

Danesh, Mohammad ^{[2
]}

机构：

[1] Univ Tabriz, Sch Engn Emerging Technol, Tabriz, Iran

[2] Isfahan Univ Technol, Dept Mech Engn, Esfahan 8415683111, Iran

来源：

OCEAN ENGINEERING | 2015年 / 107卷

关键词：

Underwater Vehicle-Manipulator System; Time Delay Control; Terminal sliding mode; Fuzzy logic; TRACKING CONTROL;

D O I：

10.1016/j.oceaneng.2015.07.043

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

An improved Time Delay Control (TDC) method for an Underwater Vehicle-Manipulator System (UVMS) is proposed. The proposed controller consists of three terms: a time-delay-estimation term that cancels nonlinearities of the UVMS dynamics, a Terminal Sliding Mode (TSM) term that provides a fast response and a PID term that reduces the tracking error. In addition the proposed controller uses fuzzy rules to adaptively tune the gains of TDC and PID terms. A full dynamic of UVMS is presented and some simulation studies are done. Simulation results demonstrate the effectiveness of proposed method. The proposed controller not only provides the high performance in trajectory tracking, but it also has an acceptable robustness in presence of the external disturbance and unknown forces/torques in comparison with conventional sliding mode controller. (C) 2015 Elsevier Ltd. All rights reserved.

引用

页码：97 / 107

页数：11

共 50 条

[21] Adaptive Nonsingular Fast Terminal Sliding Mode Tracking Control for an Underwater Vehicle-Manipulator System with Extended State Observer
Han, Lijun
Tang, Guoyuan
Cheng, Maolin
Huang, Hui
Xie, De
JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2021, 9 (05)
[22] Motion coordination for underwater vehicle-manipulator systems using a fuzzy hybrid strategy
dos Santos, Carlos Henrique
Bittencourt, Guilherme
Guenther, Raul
De Pieri, Edson
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 3018 - +
[23] Precision trajectory control in underwater vehicle-manipulator systems using advanced sliding mode techniques and state estimation
Wu, Jiawei
Liu, Hongdan
Li, Bing
Li, Jiashuai
Li, Mingze
OCEAN ENGINEERING, 2025, 318
[24] A Chattering-Suppression Sliding Mode Controller for an Underwater Manipulator Using Time Delay Estimation
Liu, Minghao
Tang, Qirong
Li, Yinghao
Liu, Changhui
Yu, Min
JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2023, 11 (09)
[25] Redundancy resolution for underwater vehicle-manipulator systems using a fuzzy expert system
dos Santos, Carlos Henrique
Bittencourt, Guilherme
Guenther, Raul
De Pieri, Edson
PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-4, 2006, : 1784 - +
[26] Adaptive fuzzy sliding mode controller for the snorkel underwater vehicle
Sebastian, Eduardo
FROM ANIMALS TO ANIMATS 9, PROCEEDINGS, 2006, 4095 : 855 - 866
[27] A Robust Controller with Integral Action for Underwater Vehicle-Manipulator Systems Including Thruster Dynamics
Taira, Yuichiro
Sagara, Shinichi
Oya, Masahiro
2014 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS), 2014, : 415 - 420
[28] Nonlinear Robust Control of Underwater Vehicle-Manipulator System Based on Time Delay Estimation
Wang, Yaoyao
Chen, Bai
Wu, Hongtao
2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2017, : 119 - 123
[29] Sliding mode controller for vehicle steering systems with time-delay input
Lv, Xiaojun
Cheng, Hong
Zheng, Nanming
Liu, Yuehu
PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON VEHICULAR ELECTRONICS AND SAFETY, 2006, : 512 - +
[30] Fuzzy sliding mode controller for time-delay and time-varying autonomous underwater vehicles
Wei, Ying-Jie
Bi, Feng-Yang
Zhang, Jia-Zhong
Cao, Wei
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics, 2009, 31 (08): : 1949 - 1952

← 1 2 3 4 5 →