Rapid Robust Control of a Marine-Vehicle Manipulator with Series Elastic Actuators Based on Variable Power Log Reaching Law

Abstract

Marine-vehicle manipulators, which represent a kind of mechanical systems installed on marine surface or underwater vehicles, are mostly suffering from the problem of waves (or ocean currents)-caused base oscillations. The oscillations have a significant impact on system stability. Numerous control strategies have been investigated, but the majority of them are concentrated on the control’s robust performance. This study focuses on an innovative marine-vehicle manipulator (ammunition transfer manipulator on warships) with novel compliant actuators (series elastic actuators), for which the control performance of convergence speed and flexible-vibration suppression should also be considered. To address these issues, this paper proposes a unique hybrid control based on the singular perturbation method, by which the control problem is decomposed into two time scales. In the slow time-scale, it is given a rapid trajectory tracking controller that integrates the computed torque method and the terminal sliding mode control law with a novel reaching law (variable power log reaching law). For the fast time-scale control, a derivative-type controller is used to achieve the suppression of the flexible vibrations. To demonstrate the effectiveness of the proposed control method, theoretical proofs and numerical simulations are both presented. According to our knowledge, this study presents the first control strategy for rapid robust control of marine-vehicle manipulators that are subject to base-oscillation-caused disturbance and compliant-actuator-induced flexible vibrations.