摘要：This paper describes an underwater 300m micro underwater work tool –MUWT(named huwt-3E, stands for three functions micro electric manipulator in China).The working principle and components of multi-sensors are introduced in detail. The pressure-compensated joint is compact designed and integrated of a micro permanent magnet (PM) brushless motor, a drive circuit, and an angular feedback potentiometer. The underwater control system is based network and consisted of three embedded system are used for servo control, task plan and target sensor respectively. Considering variable payload and uncertainty of model, a sliding mode control scheme is proposed to realize a MUWT with high precision. The control principle is based on the exponential approach law and 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. The underwater test results verify the performance of controller in flow disturbance.
