控制理论(社会学)
观察员(物理)
水下
滑模控制
终端滑动模式
计算机科学
趋同(经济学)
被动性
工程类
人工智能
非线性系统
控制(管理)
物理
地质学
经济
海洋学
量子力学
经济增长
电气工程
作者
Saeed Zaare,Mohammad Reza Soltanpour
标识
DOI:10.1016/j.ejcon.2023.100939
摘要
This paper introduces an observer-based predefined-time nonsingular terminal sliding mode control to the position tracking control of the n-degree-of-freedoms underwater robot manipulators subject to the uncertainty compensation and sensor reduction. The proposed sliding surface has only the sliding phase, while the reaching phase is eliminated using a continuous augmented function. Besides, the sliding phase is predefined-time, where it is independent of the initial conditions and control parameters. As a result, it has led to the development of a predefined-time control scheme, in which not only its convergence time is fast, but also (due to the elimination of the reaching phase) the effect of uncertainties in this phase is eliminated. Naturally, there is a wide range of uncertainties such as structured-unstructured uncertainties and/or un-modeled dynamics, ocean current, waves, etc., in the underwater robot manipulators and underwater conditions. Therefore, the proposed predefined-time nonsingular terminal sliding mode control is combined with a finite-time observer to estimate the underwater robot manipulator's joint velocity and eliminate the destructive effect of existing uncertainties. Under this combination, the stability analysis could guarantee predefined-time global asymptotic stability of the system in the presence of existing uncertainties. Simulation results are conducted on a 2-link underwater robot manipulator to validate the proposal.
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