Model reference sliding mode control of underwater vehicle-manipulator systems

Abstract

UVMS consisting of the underwater vehicle and underwater manipulator is a dynamically coupled system. The movement of the underwater manipulator has a great impact on the stability of the underwater vehicle. A control scheme combining robust feedback control of the vehicle and feed forward compensation of the manipulator is proposed. First, the dynamic modelling of UVMS by Newton-Euler method is presented and used to obtain compensation. And then, we designed a sliding mode controller with the compensation. Finally, computer physics simulations are performed to investigate the effectiveness of this scheme in stability.