Paper Info
Title
Trajectory Tracking Control of Underwater Vehicle-Manipulator System Using Discrete Time Delay Estimation.
Abstract
A new nonlinear robust control scheme is proposed and investigated for the trajectory tracking control problem of an underwater vehicle-manipulator system (UVMS) using the discrete time delay estimation (DTDE) technique. The proposed control scheme mainly has two parts: the DTDE part and the desired dynamics part. The former one is applied to properly estimate and compensate the complex unknown lumped dynamics of the system, using the intentionally time-delayed system's information. The latter one is used to obtain the desired dynamic characteristic of the closed-loop control system. Thanks to the DTDE technique, the proposed control scheme no longer requires the detailed system dynamic information or the acceleration signals, bringing in good feasibility for actual applications and satisfactory control performance. The stability of the closed-loop control system is analyzed and proved using the bounded input bounded out stability theory. Finally, nine degree of freedoms (DOFs) simulation and seven DOFs pool experiment studies were conducted to demonstrate the effectiveness of the proposed control scheme with an UVMS developed in our laboratory. Corresponding results show that our proposed control scheme can ensure satisfactory control performance with relative small control gains and obtain a precision of 0.064 m for the end effector in the task space.
Year
DOI
Venue
2017
10.1109/ACCESS.2017.2701350
IEEE ACCESS
Keywords
Field
DocType
Trajectory tracking control,underwater vehicle-manipulator system,UVMS,discrete time delay estimation,DTDE
Computer science,Control theory,Control engineering,Automatic control,Vehicle dynamics,Control system,Adaptive control,Robust control,Variable structure control,Trajectory,Sliding mode control
Journal
Volume
ISSN
Citations 
5
2169-3536
3
PageRank 
References 
Authors
0.41
5
4
Name
Order
Citations
PageRank
Yaoyao Wang1219.30
Surong Jiang2122.74
Bai Chen32014.41
Hong-tao Wu42214.32