Motion Control Based on Sliding-Mode Theory for Underwater Vehicle-Manipulator Systems with Redundancy

摘要

An Underwater Vehicle-Manipulator System (UVMS) can be appliedto pick up and carry objects for autonomous manipulation in the water.But it is difficult to control the motion of the whole system because themovement of a manipulator affects the motion of a vehicle and viceversa. Furthermore, a difficulty of the motion control is more increasingbecause there is no information about an object such as inertia andshape. In this paper, the motion control of an UVMS with redundancyis carried when the information about an object is not given in advance.In order to generate joint trajectories of a manipulator, the redundancyresolution is performed to minimized propulsion energy of a vehicleand tracking error of the joint trajectory. The controller based on thesliding mode theory is designed to control the motion of the wholesystem and the effectiveness of the proposed method is verified by aseries of simulation for 3DOF vehicle-3DOF manipulator system.