A Novel Continuous Nonsingular Finite–Time Control for Underwater Robot Manipulators
In this paper, the tracking control problem of underwater robot manipulators is investigated under the influence of the lumped disturbances, including unknown ocean current disturbances and parameter uncertainties. The proposed novel continuous nonsingular finite–time (CNFT) control method is twofol...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-03-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/9/3/269 |
| _version_ | 1797415468575752192 |
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| author | Zengcheng Zhou Guoyuan Tang Ruikun Xu Lijun Han Maolin Cheng |
| author_facet | Zengcheng Zhou Guoyuan Tang Ruikun Xu Lijun Han Maolin Cheng |
| author_sort | Zengcheng Zhou |
| collection | DOAJ |
| description | In this paper, the tracking control problem of underwater robot manipulators is investigated under the influence of the lumped disturbances, including unknown ocean current disturbances and parameter uncertainties. The proposed novel continuous nonsingular finite–time (CNFT) control method is twofold. Firstly, the modified adaptive super–twisting algorithm (ASTA) is proposed with a nonsingular fast terminal sliding mode (NFTSM) manifold to guarantee the finite–time convergence both in the sliding mode phase and the reaching phase. Secondly, a higher–order super–twisting disturbance observer (HOSTDO) is exploited to attenuate the effects of the lumped disturbances. Considering the time–varying gain matrix of the closed–loop control system, the bounded stability is strictly proved via the Lyapunov theory. Hence, the superiority of the proposed controller is singularity–free, fast convergence, chattering–free, high steady–state tracking performance, and good robustness by resorting to the methods of CNFT control and ASTA in combination with a disturbance observer. Finally, numerical simulations are conducted on a two degree–of–freedom (DOF) underwater robot manipulator to demonstrate the effectiveness and high tracking performance of the designed controller. |
| first_indexed | 2024-03-09T05:48:04Z |
| format | Article |
| id | doaj.art-4f83eba0641443db8515ce323cb04b21 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T05:48:04Z |
| publishDate | 2021-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-4f83eba0641443db8515ce323cb04b212023-12-03T12:19:03ZengMDPI AGJournal of Marine Science and Engineering2077-13122021-03-019326910.3390/jmse9030269A Novel Continuous Nonsingular Finite–Time Control for Underwater Robot ManipulatorsZengcheng Zhou0Guoyuan Tang1Ruikun Xu2Lijun Han3Maolin Cheng4School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaCCCC Second Harbor Engineering Co., Ltd., Wuhan 430074, ChinaIn this paper, the tracking control problem of underwater robot manipulators is investigated under the influence of the lumped disturbances, including unknown ocean current disturbances and parameter uncertainties. The proposed novel continuous nonsingular finite–time (CNFT) control method is twofold. Firstly, the modified adaptive super–twisting algorithm (ASTA) is proposed with a nonsingular fast terminal sliding mode (NFTSM) manifold to guarantee the finite–time convergence both in the sliding mode phase and the reaching phase. Secondly, a higher–order super–twisting disturbance observer (HOSTDO) is exploited to attenuate the effects of the lumped disturbances. Considering the time–varying gain matrix of the closed–loop control system, the bounded stability is strictly proved via the Lyapunov theory. Hence, the superiority of the proposed controller is singularity–free, fast convergence, chattering–free, high steady–state tracking performance, and good robustness by resorting to the methods of CNFT control and ASTA in combination with a disturbance observer. Finally, numerical simulations are conducted on a two degree–of–freedom (DOF) underwater robot manipulator to demonstrate the effectiveness and high tracking performance of the designed controller.https://www.mdpi.com/2077-1312/9/3/269underwater robot manipulatorscontinuous finite–time controladaptive super–twisting algorithmdisturbance observertime–varying gain matrix |
| spellingShingle | Zengcheng Zhou Guoyuan Tang Ruikun Xu Lijun Han Maolin Cheng A Novel Continuous Nonsingular Finite–Time Control for Underwater Robot Manipulators Journal of Marine Science and Engineering underwater robot manipulators continuous finite–time control adaptive super–twisting algorithm disturbance observer time–varying gain matrix |
| title | A Novel Continuous Nonsingular Finite–Time Control for Underwater Robot Manipulators |
| title_full | A Novel Continuous Nonsingular Finite–Time Control for Underwater Robot Manipulators |
| title_fullStr | A Novel Continuous Nonsingular Finite–Time Control for Underwater Robot Manipulators |
| title_full_unstemmed | A Novel Continuous Nonsingular Finite–Time Control for Underwater Robot Manipulators |
| title_short | A Novel Continuous Nonsingular Finite–Time Control for Underwater Robot Manipulators |
| title_sort | novel continuous nonsingular finite time control for underwater robot manipulators |
| topic | underwater robot manipulators continuous finite–time control adaptive super–twisting algorithm disturbance observer time–varying gain matrix |
| url | https://www.mdpi.com/2077-1312/9/3/269 |
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