Trajectory tracking for underwater manipulator using sliding mode control

Considering variable payload and uncertainty of model, a sliding mode control scheme is proposed to realize a deep-sea manipulator control with high precision. The control principle is based on the exponential approach law. A saturation function is introduced to solve the problem of chattering. A novel and simple self-adaptive regulation method is used to improve the velocity of approaching. Under the constant load and variable load, the simulation results of trajectory tracking show the effectiveness of the improved controller. Finally, a practical sliding mode control system based VxWorks OS and PC104 is designed. Experiment results are presented at the end to show the control scheme has a good performance.