Adaptive synovial control of underwater manipulator based on fuzzy compensation

In this paper, an adaptive sliding mode control based on fuzzy compensation is proposed for underwater manipulator robotic with additional mass forces, water resistance, and buoyancy force. Firstly, using Lagrange’s method and Morison equation, a dynamic model of a two-link robotic arm including hydrodynamic terms is established. Secondly, the fuzzy compensation is used to globally identify and fit the uncertain terms in the dynamic equations of the underwater manipulator robotic. Thirdly, the rigorous mathematical verification is conducted to demonstrate the stability and finite time convergence of the closed-loop control system via the Lyapunov theory. Finally, comparing with PD algorithm without fuzzy compensation, the numerical simulations are performed on a two link underwater manipulator robotic system to illustrate the effectiveness of the proposed controller.