Research on robust fuzzy logic sliding mode control of Two-DOF intelligent underwater manipulators

Kangsen Huang; Zimin Wang; Kangsen Huang; Zimin Wang

doi:10.3934/mbe.2023727

Mathematical Biosciences and Engineering

2023, Volume 20, Issue 9: 16279-16303. doi: 10.3934/mbe.2023727

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Research article

Research on robust fuzzy logic sliding mode control of Two-DOF intelligent underwater manipulators

Kangsen Huang ^,,
Zimin Wang

International College, Wuhan University of Science and Technology, Wuhan 430065, China

Academic Editor: Yang Kuang

Received: 02 May 2023 Revised: 20 July 2023 Accepted: 03 August 2023 Published: 14 August 2023

This study investigates the independent motion control of a two-degree-of-freedom (Two-DOF) intelligent underwater manipulator. The dynamics model of two-DOF manipulators in an underwater environment is proposed by combining Lagrange's equation and Morison's empirical formulation. Disturbing factors such as water resistance moments, additional mass force moments and buoyancy forces on the intelligent underwater manipulator are calculated exactly. The influence of these factors on the trajectory tracking of the intelligent underwater manipulator is studied through simulation analysis. Based on the design of the sliding mode surface of the PID structure, a new Fuzzy-logic Sliding Mode Control (FSMC) algorithm is presented for the control error and control input chattering defects of traditional sliding mode control algorithm. The experimental simulation results show that the FSMC algorithm proposed in this study has a good effect in the elimination of tracking error and convergence speed, and has a great improvement in control accuracy and input stability.
- two-DOF intelligent underwater manipulator,
- dynamics model,
- PID,
- sliding mode control (SMC),
- fuzzy-logic sliding mode control (FSMC)
Citation: Kangsen Huang, Zimin Wang. Research on robust fuzzy logic sliding mode control of Two-DOF intelligent underwater manipulators[J]. Mathematical Biosciences and Engineering, 2023, 20(9): 16279-16303. doi: 10.3934/mbe.2023727

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Abstract

This study investigates the independent motion control of a two-degree-of-freedom (Two-DOF) intelligent underwater manipulator. The dynamics model of two-DOF manipulators in an underwater environment is proposed by combining Lagrange's equation and Morison's empirical formulation. Disturbing factors such as water resistance moments, additional mass force moments and buoyancy forces on the intelligent underwater manipulator are calculated exactly. The influence of these factors on the trajectory tracking of the intelligent underwater manipulator is studied through simulation analysis. Based on the design of the sliding mode surface of the PID structure, a new Fuzzy-logic Sliding Mode Control (FSMC) algorithm is presented for the control error and control input chattering defects of traditional sliding mode control algorithm. The experimental simulation results show that the FSMC algorithm proposed in this study has a good effect in the elimination of tracking error and convergence speed, and has a great improvement in control accuracy and input stability.

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