Trajectory tracking for underwater manipulator using sliding mode control

被引：12

作者：

Xu, Guohua ^{[1
]}

Xiao, Zhihu ^{[1
]}

Guo, Ying ^{[1
]}

Xiang, Xianbo ^{[1
]}

机构：

[1] Huazhong Univ Sci & Technol, Coll Traff Sci & Engn, Underwater Technol Lab, Wuhan 430074, Peoples R China

来源：

2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 | 2007年

关键词：

sliding mode control; trajectory tracking; variable payload; underwater manipulator;

D O I：

10.1109/ROBIO.2007.4522498

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Considering variable payload and uncertainty of model, a sliding mode control scheme is proposed to realize a deep-sea manipulator control with high precision. The control principle is based on the exponential approach law. A saturation function is introduced to solve the problem of chattering. A novel and simple self-adaptive regulation method is used to improve the velocity of approaching. Under the constant load and variable load, the simulation results of trajectory tracking show the effectiveness of the improved controller. Finally, a practical sliding mode control system based VxWorks OS and PC104 is designed. Experiment results are presented at the end to show the control scheme has a good performance.

引用

页码：2127 / 2132

页数：6