Development and Control of an Innovative Underwater Vehicle Manipulator System

Recently, as humans have become increasingly interested in ocean resources, underwater vehicle-manipulator systems (UVMSs) played an important role exploitation. To realize precise operation narrow spaces, the fly arm vehicle manipulator system (FAUVMS) is proposed with manipulators its core. However, this suffers severe dynamic coupling effects due to combination of small and big manipulators. resolve issue, we propose a robust adaptive controller that contains two parts. In first part, extended Kalman filter (EKF) designed estimate states predicts external disturbances achieve control. second chattering-free sliding mode control (SMC) converge tracking errors zero, thus guaranteeing robustness controller. We constructed simulation platform based on geometric model FAUVMS, various simulations are carried out under different situations. Compared traditional methods, method has faster convergent speed, better adaptiveness disturbances, positions each end-effector much smaller.