Utilization of Terminal Sliding mode in Finite Time Control of Underwater Slave and Land based Master Robotic Manipulators

This paper proposed a robust control method for a land-based master and an underwater slave robotic manipulator. In order to comprehend the synchronization between the two diverse systems with the existing uncertainties, external disturbances and fully unknown parameters are considered. For a robust position tracking control of the underwater slave manipulator, an adaptive terminal sliding mode control method has been suggested. It is capable of attaining stability for master and slave manipulators operating in unknown environments with time-varying uncertainties such as added mass, buoyancy, hydraulic drag and friction effect. An improved robust adaptive continuous finite-time control scheme with a form of terminal sliding mode achieved by the boundary layer approach for land (master) and underwater (slave) manipulators is highly effective in reducing the abovementioned problems. In Under water conditions, robot is simulated and torques exerted from water on the links were be calculated. The proposed method is presented and its effectiveness is demonstrated through simulation and experimental results. These results verify the faster tracking performance of the proposed method and its accuracy and robustness in the presence of uncertainties and hydrodynamic and exogenous disturbances. The experimental results confirm the superior performance of the proposed control method.

کلیدواژه ها:

underwater manipulator slave system ، land-based master system ، terminal sliding mode ، synchronization