Dynamic Modeling and Tracking Control of 2-Joint Manipulators in Ocean Current Environment

GE Dahui; YOU Yunxiang; FENG Aichun

doi:10.21656/1000-0887.430381

Volume 44 Issue 6

Jun. 2023

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GE Dahui, YOU Yunxiang, FENG Aichun. Dynamic Modeling and Tracking Control of 2-Joint Manipulators in Ocean Current Environment[J]. Applied Mathematics and Mechanics, 2023, 44(6): 666-678. doi: 10.21656/1000-0887.430381

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Dynamic Modeling and Tracking Control of 2-Joint Manipulators in Ocean Current Environment

doi: 10.21656/1000-0887.430381

GE Dahui^{1, 2
,},
YOU Yunxiang^{1, 2, 3},
FENG Aichun^{1, 2, 3
,
,}

1.
State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, P.R.China
2.
School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, P.R.China
3.
SJTU Yazhou Bay Institute of Deepsea Sci-Tech, Sanya, Hainan 572000, P.R.China

Received Date: 2022-11-27
Rev Recd Date: 2023-01-26
Publish Date: 2023-06-01

Abstract

Abstract

The hydrodynamic performance of the underwater manipulator is greatly influenced by the current load. The underwater environment is assumed to be a still water environment and the current load is only considered as a simple random disturbance in the current control research, and the traditional control precision is usually rather low. Based on the Lagrange method and the Newton-Euler method, a dynamic model for 2-joint manipulators in the uniform ocean current environment was derived. In view of the relative motion of the ocean current and the manipulator, the Morison formula was introduced to calculate the water resistance and the inertia force of the ocean current on the manipulator. Based on this dynamic model, the sliding mode control strategy was used to achieve accurate tracking of the ideal trajectory of the manipulator. The simulation results show that, compared with the PD (proportional derivative) control, the sliding mode control strategy has better control effects.
- ocean current environment,
- underwater manipulator,
- dynamic modeling,
- trajectory tracking,
- sliding mode control

(Recommended by LIU Huanwen, M. AMM Editorial Board)

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References(28)

References

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