Fractional Integral Sliding Mode Control for Trajectory Tracking of Underwater Manipulators

被引：4

作者：

Huang D. ^{[1
,2
]}

Han L. ^{[1
]}

Tang G. ^{[1
]}

Zhou Z. ^{[1
]}

Xu G. ^{[1
]}

机构：

[1] School of Naval Architecture & Ocean Engineering, Huazhong University of Science and Technology, Wuhan

[2] Department of Early-warning Technology, Air Force Early Warning Academy, Wuhan

来源：

Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2019年 / 30卷 / 13期

关键词：

Exponential reaching law; Fractional integral sliding mode control; Trajectory tracking; Underwater manipulator;

D O I：

10.3969/j.issn.1004-132X.2019.13.001

中图分类号：

学科分类号：

摘要：

A fractional integral sliding mode control scheme was proposed to solve the trajectory tracking problems of underwater manipulators with unknown and bounded external disturbances. The proposed method was made with the adoption of the exponential reaching law that was based on a fractional integral sliding mode surface and with one term added as the approximate estimate for the external disturbances, which made it possible to achieve fast convergence and have strong capacity of resisting disturbances for the systems. Moreover, the stability of the closed-loop system could be guaranteed by the Lyapunov theory. Numerical simulations of the six degree-of-freedom (DOF) underwater manipulators shows promising results that validate the high-precision tracking performance and the better robustness of the proposed control systems against external disturbances. © 2019, China Mechanical Engineering Magazine Office. All right reserved.

引用

页码：1513 / 1518

页数：5

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