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contributor authorYu, Fujie
contributor authorZhu, Qilong
contributor authorChen, Yuan
date accessioned2023-11-29T19:18:29Z
date available2023-11-29T19:18:29Z
date copyright1/18/2023 12:00:00 AM
date issued1/18/2023 12:00:00 AM
date issued2023-01-18
identifier issn1942-4302
identifier otherjmr_15_6_064501.pdf
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4294691
description abstractThis article proposes an adaptive fractional-order fast-terminal-type sliding mode control method to solve the trajectory tracking problem of the underwater vehicle-manipulator system in the presence of large dynamic uncertainties and strong external disturbances. For improving the control continuity and accuracy of the conventional sliding mode control method, a modified fractional-order sliding mode control scheme with a novel fractional-order sliding manifold and a fast-terminal-type reaching law is proposed. In addition, an auto-tuning law of switching gains is presented and combined with the fractional-order sliding mode control scheme to overcome the problem that the fixed switching gain may lead to obvious tracking performance degradation under complicated lumped disturbances. Finally, the superiorities of the proposed adaptive fractional-order fast-terminal-type sliding mode control method are verified through a series of comparative simulations of a 6-degrees-of-freedom (DOF) UVMS carrying a 6DOF manipulator.
publisherThe American Society of Mechanical Engineers (ASME)
titleAdaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems
typeJournal Paper
journal volume15
journal issue6
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4056378
journal fristpage64501-1
journal lastpage64501-8
page8
treeJournal of Mechanisms and Robotics:;2023:;volume( 015 ):;issue: 006
contenttypeFulltext


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