Adaptive Sliding Mode PID Control for Underwater Manipulator Based on Legendre Polynomial Function Approximation and Its Experimental Evaluation

Abstract

The joint control problem of the underwater manipulator is addressed in this paper, under the influence of uncertainty factors such as model uncertainty, external disturbance, and manipulator joint lag. In general, for the uncertainty factors, it is usually approximated online, but it is difficult to select a reasonable value for the approximation error boundary, too conservative estimated values would cause chattering problem easily. And the influence of joint lag on the manipulator control should be considered in actual work. Unlike most previous control method, in this paper, the function approximation technique (FAT), which uses the Legendre polynomial, is adopted to approximate the uncertainty factors online. Then, based on the proportion integral differential (PID) sliding manifold with the integral and differential of tracking error, a sliding model PID controller is designed to speed up the response and reduce the effects of joint lag. For the error boundary, the adaptive law is proposed, and it will reduce chattering of the control quantity under the steady state of the system. It was proved that the joint error of the control system is uniformly asymptotic convergence through the stability analysis. Finally, the effectiveness of the proposed approach is demonstrated with pool comparison experiments of the underwater manipulator installed in the autonomous underwater vehicles (AUVs).