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Adaptive nonsingular fast terminal sliding mode control for underwater manipulator robotics with asymmetric saturation actuators

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Abstract

In this paper, an adaptive nonsingular fast terminal sliding mode control (ANFTSMC) is proposed for underwater manipulator robotics with asymmetric actuator saturations and unknown time-varying (TV) external disturbances. Firstly, the nonsingular fast terminal sliding mode (NFTSM) control scheme is conducted for the underwater manipulator robotics, which guarantees the boundedness of all the signals in the control system. Secondly, the adaptive method and the smooth hyperbolic tangent (tanh) function are introduced to address the unknown TV external disturbances and the input saturation errors. Thus the prior knowledge about the upper bounds of the system uncertainties is not needed in this paper. To deal with the nonlinear asymmetric input saturation issue, a Gaussian error function is employed in the asymmetric saturation module so that the discontinuous input signals can be transformed into smooth forms. Thirdly, the rigorous mathematical verification is conducted to demonstrate the stability and finite-time convergence of the closed-loop control system via the Lyapunov theory. Finally, numerical simulations are performed on a two-link underwater manipulator robotic system to illustrate the effectiveness of the proposed controller.

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Authors and Affiliations

  1. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan Hubei, 430074, China

    Zengcheng Zhou, Guoyuan Tang, Hui Huang, Lijun Han & Ruikun Xu

  2. Collaborative Innovation Center for Advanced Ship and Deep-sea Exploration (CISSE), Wuhan Hubei, 430074, China

    Guoyuan Tang

Authors
  1. Zengcheng Zhou
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  2. Guoyuan Tang
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  3. Hui Huang
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  4. Lijun Han
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  5. Ruikun Xu
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Corresponding author

Correspondence to Guoyuan Tang.

Additional information

This work was supported by the National Natural Science Foundation of China (No. 51979116), the HUST Interdisciplinary Innovation Team Project, the Innovation Foundation of Maritime Defense Technologies Innovation Center and the Fundamental Research Funds for the Central Universities (HUST: 2018JYCXJJ045, HUST: 2018KFYYXJJ012).

Zengcheng ZHOU received the B.Sc. degree in Marine Engineering from Huazhong University of Science and Technology, Wuhan, China, in 2017. He is currently pursuing a M.Sc. degree with the School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology. His current research interests include the nonlinear control, sliding mode control and underwater vehicles and manipulators.

Guoyuan TANG received the Ph.D. degree from Mechanical Science and Engineering from Huazhong University of Science and Technology, Wuhan, China, in 2005. He is an associate professor of School of Naval Architecture and Ocean Engineering of Huazhong University of Science and Technology. His research interests include control of underwater robots (vehicles) and manipulators, ocean intelligent systems, control of marine unmanned clusters. He serves as a reviewer for some peer-reviewed journals, including Ocean Engineering, Journal of Marine Science and Application.

Hui HUANG received the M.Sc. degree in Solid Mechanics from Huazhong University of Science and Technology (HUST), Wuhan, China, in 2018. He is currently a Ph.D. candidate at School of Naval Architecture and Ocean Engineering, HUST under the supervision of Prof. Guoyuan Tang and Prof. De Xie. His research interests include robust control of underwater vehicles and multi-link flexible manipulators.

Lijun HAN received the B.Sc. degree in Mathematics from Xinyang Normal University, Henan, China, in 2013. Since 2014, she studied for the M.Sc. degree in Mathematics, and from 2015 worked toward the Ph.D. degree in School of Naval Architecture and Ocean Engineering from Huazhong University of Science and Technology, Hubei, China. Her research interests include robust control of underwater vehicles and manipulators.

Ruikun XU received the B.Sc. degree in Mathematics from Anqing Normal University, Anqing, China, in 2014. From 2014 to 2015, he started pursuing the M.Sc. degree in School of Mathematics and Statics, Huazhong University of Science and Technology (HUST) under the supervision of Prof. Bin Liu. He is currently a Ph.D. candidate at the School of Naval Architecture and Ocean Engineering, HUST under the supervision of Prof. Guoyuan Tang and Prof. De Xie. His research interests include the tracking control, nonlinear control, sliding mode control and underwater vehicle control.

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Zhou, Z., Tang, G., Huang, H. et al. Adaptive nonsingular fast terminal sliding mode control for underwater manipulator robotics with asymmetric saturation actuators. Control Theory Technol. 18, 81–91 (2020). https://doi.org/10.1007/s11768-020-9127-0

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  • DOI: https://doi.org/10.1007/s11768-020-9127-0

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