SLIDING MODE-PID FUZZY CONTROLLER WITH A NEW REACHING MODE FOR UNDERWATER ROBOTIC MANIPULATORS

摘要

Design of an accurate and robust controller is a challenging topic in an underwater manipulator control. This is due to hydrodynamic disturbances in underwater environment. In this paper a sliding mode control (SMC) included a PID sliding surface and fuzzy tunable gain is designed. In this proposed controller robustness property of SMC and fast response of PID are incorporated with fuzzy rules to reduce error tracking. In the control law, for removing of chattering, the exponential function is used. And also the system is analyzed in terms of stability by direct Lyapunov method. By tuning gains with fuzzy logic, the proposed controller does not require an accurate model of underwater manipulator dynamics. Hence the modeling and simulation studies are done for an underwater manipulator to verify the effectiveness of the proposed method in presence of unmodeled dynamic (variable masses of links) and external disturbance. Both new proposed controller and conventional SMC are simulated. The results of simulation show the high performance of proposed controller in comparison to conventional SMC.