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

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          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 subsystems, and the combined effects of dynamic uncertainties, hydrodynamic force, unknown disturbances, and nonlinear coupling terms on each subsystem are lumped into a single total disturbance. Next, a linear extended state observer (LESO) is presented to estimate the total disturbance. Then, a sliding mode active disturbance rejection control (SMADRC) scheme is proposed to enhance the robustness of the control system. The stability of the SMADRC and the estimation errors of the LESO are analyzed. Because it is difficult to simultaneously adjust several parameters for a LESO-based SMADRC scheme, a fuzzy logic control (FLC) scheme is used to formulate the FSMADRC to determine the appropriate parameters adaptively for practical applications. Finally, two AUVMS tasks are illustrated to test the trajectory tracking performance of the closed-loop system and its ability to reject and attenuate the total disturbance. The simulation results show that the proposed FSMADRC scheme achieves better performance and consume less energy than conventional PID and FLC techniques.

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          Author and article information

          Journal of Ocean University of China
          Science Press and Springer (China )
          02 September 2020
          01 October 2020
          : 19
          : 5
          : 1081-1093
          1College of Engineering, Ocean University of China, Shandong Engineering Research Center of Marine Intelligent Equipment and Instruments, Qingdao 266100, China
          2Department of Investigation, Sichuan Police College, Luzhou 646000, China
          3Mechanical Engineering, Texas A&M University at Qatar, Doha 23874, Qatar
          Author notes
          *Corresponding author: ZHOU Liqin, E-mail: liqin72@
          Copyright © Ocean University of China, Science Press and Springer-Verlag GmbH Germany 2020.

          The copyright to this article, including any graphic elements therein (e.g. illustrations, charts, moving images), is hereby assigned for good and valuable consideration to the editorial office of Journal of Ocean University of China, Science Press and Springer effective if and when the article is accepted for publication and to the extent assignable if assignability is restricted for by applicable law or regulations (e.g. for U.S. government or crown employees).

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