A Novel Continuous Nonsingular Finite–Time Control for Underwater Robot Manipulators

摘要

In this paper, the tracking control problem of underwater robot manipulators is investigated under the influence of the lumped disturbances, including unknown ocean current disturbances and parameter uncertainties. The proposed novel continuous nonsingular finite–time (CNFT) control method is twofold. Firstly, the modified adaptive super–twisting algorithm (ASTA) is proposed with a nonsingular fast terminal sliding mode (NFTSM) manifold to guarantee the finite–time convergence both in the sliding mode phase and the reaching phase. Secondly, a higher–order super–twisting disturbance observer (HOSTDO) is exploited to attenuate the effects of the lumped disturbances. Considering the time–varying gain matrix of the closed–loop control system, the bounded stability is strictly proved via the Lyapunov theory. Hence, the superiority of the proposed controller is singularity–free, fast convergence, chattering–free, high steady–state tracking performance, and good robustness by resorting to the methods of CNFT control and ASTA in combination with a disturbance observer. Finally, numerical simulations are conducted on a two degree–of–freedom (DOF) underwater robot manipulator to demonstrate the effectiveness and high tracking performance of the designed controller.