Adaptive VSS Control with Deformable Sliding Surfaces for Underwater Robot Manipulator Drives

the paper is devoted to new adaptive variable-structure system (VSS) control algorithms and their applications in underwater robotics. Variable-structure systems (VSS) are known as a class of nonlinear systems with discontinuous control. One of the most attractive features of VSS is availability of sliding mode. System dynamics in sliding mode can be robust to parametric uncertainties. Adaptive control is also available in VSS. Simulations of underwater robot drives control with derived adaptive VSS algorithms confirmed their high efficiency.