期刊名称：International Journal of Mechatronics, Electrical and Computer Technology
印刷版ISSN：2305-0543
出版年度：2013
卷号：3
期号：9
页码：224-249
出版社：Austrian E-Journals of Universal Scientific Organization
摘要：Design of an accurate and robust controller is challenging topic in underwater manipulatorcontrol. This is due to hydrodynamic disturbances in underwater environment. In this paper asliding mode control (SMC) included a PID sliding surface and fuzzy tunable gain is designed.In this proposed controller robustness property of SMC and fast response of PID areincorporated with fuzzy rules to reduce error tracking. In the control law, for remove ofchattering, the exponential function is used. And also system is analyzed in terms of stabilityby direct lyapunov method. By tuning gains with fuzzy logic, the proposed controller does notrequire an accurate model of underwater manipulator dynamics. Hence the modeling andsimulation studies are done for an underwater manipulator to verify the effectiveness of theproposed method. Both new proposed controller and conventional SMC are simulated. Theresults of simulation show the high performance of proposed controller in comparison toconventional SMC.
关键词：Robust control; Sliding Mode Control; Fuzzy Logic; Gain Tuning; Underwater;Manipulator
