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Extended state observer based sliding mode control with prescribed performance for underwater vehicle manipulator system

In this paper, a design method of extended state observer (ESO)-based sliding mode control is proposed for underwater vehicle manipulator systems (UVMSs) with prescribed performance. First, the system model is reformulated by lumping the unknown uncertainties and disturbances into a total disturbance. Then, an ESO is developed to estimate the total disturbance. Based on ESO, the prescribed performance is defined to limit upper bounds of tracking error and then a sliding mode controller is proposed to ensure that all the signals are ultimately uniformly bounded (UUB). Moreover, the tracking errors can converge to the neighborhood of zero in finite-time and satisfy the prescribed performances. Finally, simulation results are presented to show the effectiveness of the proposed controller.