Rapid Robust Control of a Marine-Vehicle Manipulator with Series Elastic Actuators Based on Variable Power Log Reaching Law

Marine-vehicle manipulators, which represent a kind of mechanical systems installed on marine surface or underwater vehicles, are mostly suffering from the problem waves (or ocean currents)-caused base oscillations. The oscillations have significant impact system stability. Numerous control strategies been investigated, but majority them concentrated control’s robust performance. This study focuses an innovative marine-vehicle manipulator (ammunition transfer warships) with novel compliant actuators (series elastic actuators), for performance convergence speed and flexible-vibration suppression should also be considered. To address these issues, this paper proposes unique hybrid based singular perturbation method, by is decomposed into two time scales. In slow time-scale, it given rapid trajectory tracking controller that integrates computed torque method terminal sliding mode law reaching (variable power log law). For fast time-scale control, derivative-type used to achieve flexible vibrations. demonstrate effectiveness proposed theoretical proofs numerical simulations both presented. According our knowledge, presents first strategy manipulators subject base-oscillation-caused disturbance compliant-actuator-induced