标题：Research on hydrodynamics analysis and double loop integral sliding mode control of 4-joint underwater manipulator
作者：Wang, Zhen ;Lin, Mingxing ;Ban, Chuanqi
作者机构：[Wang, Zhen ;Lin, Mingxing ;Ban, Chuanqi ] School of Mechanical Engineering, Shandong University, Jinan; 250061, China;[Wang, Zhen ;Lin, Mingxing ;Ban 更多
会议名称：14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
会议日期：28 June 2017 through 1 July 2017
来源：2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
关键词：double loop integral sliding mode algorithm; hydrodynamic equations; trajectory tracking; underwater manipulator
摘要：Given the importance of underwater manipulator in the process of grasping and carrying the object, the simple 4-joint underwater manipulator is designed. Considering the factors of water flow, the hydrodynamic model is established by using the Morision formula. Through the numerical calculation method, the effects of the buoyancy, water resistance and added mass force on the dynamics of the underwater manipulator are analyzed. On this basis, the controllers of the conventional sliding mode algorithm and the double loop integral sliding mode algorithm are established. The simulation results of trajectory tracking show that: the double loop integral sliding mode algorithm has better performances in response speed, stability and adaptability compared with conventional sliding mode control algorithm. This paper provides valuable references for the dynamic study and motion control of underwater manipulator. © 2017 IEEE.