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dc.contributor.authorBorlaug, Ida-Louise Garmann
dc.contributor.authorGravdahl, Jan Tommy
dc.contributor.authorSverdrup-Thygeson, Jørgen
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorLoria, Antonio
dc.date.accessioned2019-04-01T13:03:10Z
dc.date.available2019-04-01T13:03:10Z
dc.date.created2018-08-13T09:51:18Z
dc.date.issued2018
dc.identifier.citationAsian journal of control. 2018, 21 (1), 1-16.nb_NO
dc.identifier.issn1561-8625
dc.identifier.urihttp://hdl.handle.net/11250/2592736
dc.description.abstractThe underwater swimming manipulator (USM) is a snake-like, multi-articulated, underwater robot that is equipped with thrusters. One of the main purposes of the USM is to act like an underwater floating base manipulator. As such, it is essential to achieve good station-keeping and trajectory tracking performance for the USM by using the thrusters and by using the joints to attain the desired position and orientation of the head and tail of the USM. In this ‘paper, we propose a sliding mode control (SMC) law, specifically the super-twisting algorithm with adaptive gains, for the trajectory tracking of the USM’s centre of mass. A higher-order sliding mode observer is proposed for state estimation. Furthermore, we show the ultimate boundedness of the tracking errors. We demonstrate the applicability of the proposed control law and show that it leads to better performance than a linear PD-controller.nb_NO
dc.language.isoengnb_NO
dc.publisherWileynb_NO
dc.subjectUnderwater swimming manipulator, super-twisting, sliding mode control, sliding mode observernb_NO
dc.titleTrajectory tracking for underwater swimming manipulators using a super twisting algorithmnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionsubmittedVersionnb_NO
dc.source.pagenumber1-16nb_NO
dc.source.volume21nb_NO
dc.source.journalAsian journal of controlnb_NO
dc.source.issue1nb_NO
dc.identifier.doi10.1002/asjc.1840
dc.identifier.cristin1601391
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcodePublisher embargo until August 2019nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextaccepted version
cristin.qualitycode1


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