Adaptive Super-Twisting Sliding Mode Control of Underwater Mechanical Leg with Extended State Observer
Underwater manipulation is one of the most significant functions of the deep-sea crawling and swimming robot (DCSR), which relies on the high-accuracy control of the body posture. As the actuator of body posture control, the position control performance of the underwater mechanical leg (UWML) thus d...
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MDPI AG
2023-09-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/12/10/373 |
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| author | Lihui Liao Luping Gao Mboulé Ngwa Dijia Zhang Jingmin Du Baoren Li |
| author_facet | Lihui Liao Luping Gao Mboulé Ngwa Dijia Zhang Jingmin Du Baoren Li |
| author_sort | Lihui Liao |
| collection | DOAJ |
| description | Underwater manipulation is one of the most significant functions of the deep-sea crawling and swimming robot (DCSR), which relies on the high-accuracy control of the body posture. As the actuator of body posture control, the position control performance of the underwater mechanical leg (UWML) thus determines the performance of the underwater manipulation. An adaptive super-twisting sliding mode control method based on the extended state observer (ASTSMC-ESO) is proposed to enhance the position control performance of the UWML by taking into account the system’s inherent nonlinear dynamics, uncertainties, and the external disturbances from hydrodynamics, dynamic seal resistance, and compensation oil viscous resistance. This newly designed controller incorporates sliding mode (SMC) feedback control with feedforward compensation of the system uncertainties estimated by the ESO, and the external disturbances of the hydrodynamics by fitting the parameters, the dynamic seal resistance, and the compensation oil viscous resistance to the tested results. Additionally, an adaptive super-twisting algorithm (AST) with integral action is introduced to eliminate the SMC’s chattering phenomenon and reduce the system’s steady-state error. The stability of the proposed controller is proved via the Lyapunov method, and the effectiveness is verified via simulation and comparative experimental studies with SMC and the adaptive fuzzy sliding mode control method (AFSMC). |
| first_indexed | 2024-03-10T21:31:59Z |
| format | Article |
| id | doaj.art-195a0ccabd3148a18ca0c27e8acd7bcc |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T21:31:59Z |
| publishDate | 2023-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-195a0ccabd3148a18ca0c27e8acd7bcc2023-11-19T15:16:07ZengMDPI AGActuators2076-08252023-09-01121037310.3390/act12100373Adaptive Super-Twisting Sliding Mode Control of Underwater Mechanical Leg with Extended State ObserverLihui Liao0Luping Gao1Mboulé Ngwa2Dijia Zhang3Jingmin Du4Baoren Li5Institute of Marine Mechatronics and Equipment, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaInstitute of Marine Mechatronics and Equipment, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaInstitute of Marine Mechatronics and Equipment, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaInstitute of Marine Mechatronics and Equipment, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaInstitute of Marine Mechatronics and Equipment, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaInstitute of Marine Mechatronics and Equipment, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaUnderwater manipulation is one of the most significant functions of the deep-sea crawling and swimming robot (DCSR), which relies on the high-accuracy control of the body posture. As the actuator of body posture control, the position control performance of the underwater mechanical leg (UWML) thus determines the performance of the underwater manipulation. An adaptive super-twisting sliding mode control method based on the extended state observer (ASTSMC-ESO) is proposed to enhance the position control performance of the UWML by taking into account the system’s inherent nonlinear dynamics, uncertainties, and the external disturbances from hydrodynamics, dynamic seal resistance, and compensation oil viscous resistance. This newly designed controller incorporates sliding mode (SMC) feedback control with feedforward compensation of the system uncertainties estimated by the ESO, and the external disturbances of the hydrodynamics by fitting the parameters, the dynamic seal resistance, and the compensation oil viscous resistance to the tested results. Additionally, an adaptive super-twisting algorithm (AST) with integral action is introduced to eliminate the SMC’s chattering phenomenon and reduce the system’s steady-state error. The stability of the proposed controller is proved via the Lyapunov method, and the effectiveness is verified via simulation and comparative experimental studies with SMC and the adaptive fuzzy sliding mode control method (AFSMC).https://www.mdpi.com/2076-0825/12/10/373deep-sea crawling and swimming robotunderwater mechanical legextended state observeradaptive super twisting controlsliding mode controlhydrodynamics |
| spellingShingle | Lihui Liao Luping Gao Mboulé Ngwa Dijia Zhang Jingmin Du Baoren Li Adaptive Super-Twisting Sliding Mode Control of Underwater Mechanical Leg with Extended State Observer Actuators deep-sea crawling and swimming robot underwater mechanical leg extended state observer adaptive super twisting control sliding mode control hydrodynamics |
| title | Adaptive Super-Twisting Sliding Mode Control of Underwater Mechanical Leg with Extended State Observer |
| title_full | Adaptive Super-Twisting Sliding Mode Control of Underwater Mechanical Leg with Extended State Observer |
| title_fullStr | Adaptive Super-Twisting Sliding Mode Control of Underwater Mechanical Leg with Extended State Observer |
| title_full_unstemmed | Adaptive Super-Twisting Sliding Mode Control of Underwater Mechanical Leg with Extended State Observer |
| title_short | Adaptive Super-Twisting Sliding Mode Control of Underwater Mechanical Leg with Extended State Observer |
| title_sort | adaptive super twisting sliding mode control of underwater mechanical leg with extended state observer |
| topic | deep-sea crawling and swimming robot underwater mechanical leg extended state observer adaptive super twisting control sliding mode control hydrodynamics |
| url | https://www.mdpi.com/2076-0825/12/10/373 |
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