Adaptive Joint Space Control of Planar Underwater Robotic Manipulator Using Non-singular Fast Terminal Sliding Mode Technique

This study introduces Non-Singular Terminal Sliding Mode Control (NTSMC) and its use in managing the joint-space trajectory of an autonomous undersea vehicle manipulator system (AUVMS). The suggested control technique includes a non-singular terminal sliding manifold, a continuous equivalent control term, and a Super-Twisting algorithm for disturbance monitoring. The control rule utilises an approximated inverse dynamic model to enhance model-based control and incorporate the terminal sliding manifold, resulting in rapid convergence of the tracking error to zero. An improved adaptive Super-Twisting algorithm is developed to reduce chatter and handle prior knowledge. Using an adaptive exponential reaching law increases path tracking performance and reduces reaching times. The results of the simulation show that the suggested control method works and stays stable, even when there are disturbances and unclear parameters.