Dynamic Modeling and Vibration Suppression for Two-Link Underwater Flexible Manipulators

This paper proposes a composite controller (CC) to improve the accuracy of trajectory tracking and suppress vibration two-link underwater flexible manipulators. A dynamic model manipulators considering hydrodynamic force is established by combining Lagrange equation Morison formula. Then, divided into subsystem rigid subsystem, decomposed control strategy presented for two subsystems. In particular, an adaptive fuzzy sliding mode scheme (AFSMC) with good robustness compensate uncertain factors designed track joint vibration. Next, simulated investigate performance framework. The results show that deformation markedly affect input torque joint, traditional (SMC) superior proportional integral derivative (PID) in managing disturbance inferior suppressing proposed based on CC(AFSMC) more effective restraining resisting than PID CC(SMC).