해저작업 로봇 매니퓰레이터의 슬라이딩 모드 제어

A Sliding Mode Control of Robot Manipulator Operated Under the Sea

This paper presents a modeling of undersea robot manipulators and a control scheme appropriate for manipulating the manipulators working under the unstrcuctured sea water environment. Under the sea, the added mass and added moment of inertia, buoyancy, and drag forces should be considered in modeling the dynamics of the robot manipulators. Due to the complexity of them, the desired dynamics of manipulators can not be accomplished by the conventional control schemes. Hence, a sliding mode control is applied to control the modeling error.