Adaptive Super-Twisting Sliding Mode Control of Underwater Mechanical Leg with Extended State Observer

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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Bibliographic Details
Main Authors: Lihui Liao, Luping Gao, Mboulé Ngwa, Dijia Zhang, Jingmin Du, Baoren Li
Format: Article
Language:English
Published: MDPI AG 2023-09-01
Series:Actuators
Subjects:
deep-sea crawling and swimming robot
underwater mechanical leg
extended state observer
adaptive super twisting control
sliding mode control
hydrodynamics
Online Access:https://www.mdpi.com/2076-0825/12/10/373

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