Fuzzy Sliding Mode Active Disturbance Rejection Control of an Autonomous Underwater Vehicle-Manipulator System
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Fuzzy Sliding Mode Active Disturbance Rejection Control of an Autonomous Underwater Vehicle-Manipulator System WANG Hongdu1), LI Xiaogang1), LIU Xin2), KARKOUB Mansour3), and ZHOU Liqin1), * 1) College of Engineering, Ocean University of China, Shandong Engineering Research Center of Marine Intelligent Equipment and Instruments, Qingdao 266100, China 2) Department of Investigation, Sichuan Police College, Luzhou 646000, China 3) Mechanical Engineering, Texas A&M University at Qatar, Doha 23874, Qatar (Received June 27, 2019; revised November 4, 2019; accepted January 10, 2020) © Ocean University of China, Science Press and Springer-Verlag GmbH Germany 2020 Abstract In this paper, a fuzzy sliding mode active disturbance rejection control (FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system (AUVMS) with a two-link and three-joint manipulator. First, the AUVMS is separated into nine subsystems, and the combined effects of dynamic uncertainties, hydrodynamic force, unknown disturbances, and nonlinear coupling terms on each subsystem are lumped into a single total disturbance. Next, a linear extended state observer (LESO) is presented to estimate the total disturbance. Then, a sliding mode active disturbance rejection control (SMADRC) scheme is proposed to enhance the robustness of the control system. The stability of the SMADRC and the estimation errors of the LESO are analyzed. Because it is difficult to simultaneously adjust several parameters for a LESO-based SMADRC scheme, a fuzzy logic control (FLC) scheme is used to formulate the FSMADRC to determine the appropriate parameters adaptively for practical applications. Finally, two AUVMS tasks are illustrated to test the trajectory tracking performance of the closed-loop system and its ability to reject and attenuate the total disturbance. The simulation results show that the proposed FSMADRC scheme achieves better performance and consume less energy than conventional PID and FLC techniques. Key words Fuzzy sliding mode active disturbance rejection controller (FSMADRC); linear extended state observer (LESO); autonomous underwater vehicle-manipulator system (AUVMS); total disturbance; fuzzy logic control
1 Introduction More than 70% of the earth is covered by water and with the increase of the world’s population and shortage of natural resources onshore, more countries have been searching for additional resources offshore. However, because of the complexity of the underwater environment and unknown hazards, most of the underwater world still remains unreachable for humans. To make underwater resources more accessible to humans, scientists and researchers have been examining ways and means to make deepsea explorations possible. Therefore, many underwater robotic vehicles, such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs), have been developed to reach areas that are too hazardous for humans to directly explore. ROVs, however, are not suitable for nontrivial and precise tasks due to their high operation c
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