Trajectory Tracking Control of Underwater Vehicle-Manipulator System Using Discrete Time Delay Estimation

Intl J Robust & Nonlinear

Yan

et al. 2018

Self Cite

For the high precise tracking control purpose of a cable-driven manipulator under lumped uncertainties, a novel adaptive fractional-order nonsingular terminal sliding mode control scheme based on time delay estimation (TDE) is proposed and investigated in this paper. The proposed control scheme mainly has three elements, ie, a TDE element applied to properly compensate the lumped unknown dynamics of the system resulting in a fascinating model-free feature; a fractional-order nonsingular terminal sliding mode (FONTSM) surface element used to ensure high precision in the steady phase; and a combined reaching law with adaptive technique adopted to obtain fast convergence and high precision and chatter reduction under complex lumped disturbance. Stability of the closed-loop control system is analyzed with the Lyapunov stability theory. Comparative simulations and experiments were performed to demonstrate the effectiveness of our proposed control scheme using 2-DOF (degree of freedom) of a cable-driven manipulator named Polaris-I. Corresponding results show that our proposed method can ensure faster convergence, higher precision, and better robustness against complex lumped disturbance than the existing TDE-based FONTSM and continuous FONTSM control schemes. KEYWORDS adaptive control, cable-driven manipulator, fractional-order, nonsingular terminal sliding mode (NTSM), time delay estimation (TDE) 1396

Section: Parameter Tuning Proceduresmentioning

confidence: 99%

Section: Remark 6 As Indicated Inmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Practical adaptive fractional‐order nonsingular terminal sliding mode control for a cable‐driven manipulator

Intl J Robust & Nonlinear

Yan

et al. 2018

Self Cite

“…Unmanned marine vehicle (UMV), usually used as a generic term to describe autonomous underwater vehicle (AUV) and unmanned surface vessel (USV), can be used to perform a multitude of different tasks, such as mineral resources sampling, offshore oil and gas operations, ocean engineering maintenance, and military reconnaissance, and it is attracting more and more interest from the scientific, commercial, and naval sectors. [1][2][3][4] Although much advancement have been realized in this area, the demand for more advanced navigation, guidance, and control systems for UMVs continues to grow, as more and more vehicle autonomy is required. [5][6][7][8] In practical implementation, many UMVs are designed of underactuated configurations due to practical considerations, for example, reducing weight and/or cost.…”

Section: Introductionmentioning

confidence: 99%

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Dong

International Journal of Advanced Robotic Systems

Song

et al. 2019

Point stabilization control of a class of asymmetric underactuated high-speed unmanned marine vehicle is discussed, and a robust exponential stabilization control algorithm is proposed based on homogeneous theory, average system theory, and nonlinear backstepping technology. Firstly, point stabilization control problem of a high-speed underactuated unmanned marine vehicle with model asymmetry is formulated, and then global differential homeomorphism transformation is designed, in order to overcome the difficulties caused by unmanned marine vehicle with model asymmetry. Secondly, the control system is transformed into the standard form of homogeneous interference system by output state variable transformation design and input transformation design. A novel interference function is designed, and then difficulties caused by the higher order velocities in damping coefficients are solved, via homogeneous stability design and homogeneity degree analyzing the expansion of the designed new state variables. Thirdly, by introducing the virtual input of backstepping and the average system theory, point stabilization controller for the underactuated high-speed unmanned marine vehicle is proposed based on homogeneous theory, which could achieve global and periodic time-varying robust exponential stability, and then stability of the point stabilization control algorithm is proved by using homogeneous stability theory and average system stability theory. At last, the effectiveness and accuracy of the control algorithm proposed is verified by semi-physical simulation experiment carried out in our laboratory.

“…Therefore, the redundancy resolution problem had been widely studied to properly adopt the abovementioned mode since the UVMS usually has more than six degree of freedoms (DOFs). After the redundancy resolution problem is properly handled, advanced control methods [4][5][6][7][8][9][10] can be applied to enhance the working precision.…”

Section: Introductionmentioning

confidence: 99%

A new redundancy resolution for underwater vehicle–manipulator system considering payload

International Journal of Advanced Robotic Systems

Jiang

Yan

et al. 2017

Self Cite

For the motion coordination problem between the underwater vehicle and manipulator of the underwater vehiclemanipulator system, a new redundancy resolution method is proposed and investigated. The proposed method mainly has two parts: a fuzzy logic part and a multitasks weighted gradient projection method part. The fuzzy logic part is used to decide the weight factors of the motion distribute matrix and the priorities of all the secondary objectives, while the multitasks weighted gradient projection method part is used to handle the secondary objectives with the weight factors and priorities decided by the fuzzy logic part. Moreover, a new secondary objective is proposed to optimize underwater vehicle-manipulator system's attitude, which takes the payload into consideration. Finally, the effectiveness of the proposed redundancy resolution is verified through some comparative simulations.