Finite-time sliding mode control for UVMS via T-S fuzzy approach

Xiang Dong; Chengcheng Ren; Shuping He; Long Cheng; Shuo Wang

doi:10.3934/dcdss.2021167

Article Contents

2022, Volume 15, Issue 7: 1699-1712. Doi: 10.3934/dcdss.2021167

This issue Previous Article Preface Next Article Switching mechanism-based event-triggered fuzzy adaptive control with prescribed performance for MIMO nonlinear systems

Finite-time sliding mode control for UVMS via T-S fuzzy approach

1.
School of Electrical Engineering and Automation, Anhui University, 111 Jiulong Road, Hefei 230601, Anhui, China
2.
State Key Laboratory for Control and Management of Complex Systems, Institute of Automation, Chinese Academy of Sciences, 95 Zhongguancun Road, Beijing 100190, China

^*Corresponding author: Shuping He
^*Corresponding author: Shuping He

Received: September 2021

Revised: October 2021

Early access: December 2021

Published: July 2022

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Abstract

In order to solve the control problem of Underwater Vehicle with Manipulator System (UVMS), this paper proposes a finite-time sliding mode control strategy via T-S fuzzy approach. From the general dynamic model of UVMS and considering the influence between the manipulator and the underwater vehicle, hydrodynamic damping, buoyancy and gravity as the fuzzy items, we establish global fuzzy dynamic model and design a closed-loop fuzzy sliding mode controller. We prove the model in theory from two aspects: the reachability of sliding domain and the finite-time boundedness. We also give the solution of the controller gain. A simulation on the actual four joint dynamic model of UVMS with two fuzzy subsystems is carried out to verify the effectiveness of this method.

Keywords:

Underwater vehicle with manipulator system(UVMS),
sliding mode control,
reachability of sliding domain,
Takagi-Sugeno (T-S) fuzzy model,
finite-time boundedness.

Mathematics Subject Classification: Primary: 93B05, 93C42; Secondary: 93D40.

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Figure 1. The global fuzzy sliding mode variable

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Figure 2. The system state trajectory of open-loop and closed-loop

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Table 1. The main parameters of UVMS model

Parameter	Value
$ l_1 $	$ 1.12m $
$ l_2 $	$ 0.89m $
$ m_1 $	$ 4.32kg $
$ m_2 $	$ 3.43kg $
$ g $	$ 9.8m/s^2 $

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