Fuzzy Sliding Mode Active Disturbance Rejection Control of an Autonomous Underwater Vehicle-Manipula

• 作 者: ANG Hongdu LI Xiaogang LIU Xin
• 机 构: CollegeofEngineering,DepartmentofInvestigation,MechanicalEngineering
• 出 处: 中国海洋大学学报:英文版
• 发表日期: 2020年5期
• 关键词: Fuzzy sliding mode active disturbance rejection controller(FSMADRC) linear exten
• 基金项目: supported in part by the Fundamental Research Funds for the Central Universities (No. 201964012),the Open Foundation of Henan Key Laboratory of Underwater Intelligent Equipment (No. KL02A1802),the Nat

In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, the AUVMS is separated into nine subsys