Super-Twisting Sliding Mode Trajectory Tracking Control of an Underwater Manipulator Subject to Input Saturation Constraints

To address the trajectory tracking problem of underwater manipulators operating in complex marine environments with strong multi-degree-of-freedom coupling, pronounced nonlinearities, and actuator saturation constraints, this paper proposes a super-twisting sliding mode control scheme integrated wit...

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Autors principals:	Hui Yang, Siyu Niu, Xuyu Shen, Zhenzhong Chu
Format:	Artigo
Idioma:	Inglês
Publicat:	MDPI AG 2026-03-01
Col·lecció:	Sensors
Matèries:	underwater manipulator super-twisting algorithm extended state observer input saturation compensation
Accés en línia:	https://www.mdpi.com/1424-8220/26/5/1607
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