Research on Adaptive Sliding Mode Control of UVMS Based on Nonlinear Disturbance Observation

The underwater vehicle manipulator system is a powerful tool for the exploration and development of marine resources. Due to the complexity of the marine environment, there are many disturbance factors and difficult to control. Taking the fixed depth control in hovering mode as an example, the vertical plane decoupling control model is established, and the adaptive sliding mode control method based on the disturbance observation is studied. The nonlinear disturbance observation is used to estimate the external unknown disturbance in real time, and the adaptive sliding mode method is used for compensation control. Simulation results show that the control method can effectively compensate for the sudden disturbance term, does not produce obvious trim motion, has strong robustness, and provides a reliable and stable base for the operation of the underwater manipulators. Finally, the operation experiments in the pool and real sea area under the disturbance condition are carried out, respectively. The experimental results show that the control effect is good and the stability is greatly improved compared with the traditional control method.