Sliding mode control for a hydraulic underwater manipulator

摘要

This paper deals with sliding mode control of a non linear system with hydraulic actuators. robustness, accuracy are required to ensure stability and relatively perturbation rejection for manipulators operating in disturbed environments. To increase the robustness of the feedback control a sliding mode approach is investigated. Stability is proved by use of Lyapunov theory. The control law is analyzed in simulation and the obtained properties lead to a good compromise between complexity and performance.