Design of Fuzzy Super-Twisting Sliding Mode Controller for Underwater Fishing Manipulator

Using underwater fishing manipulator instead of artificial fishing are less risky and productive, but the working environment of underwater fishing by manipulator is complex and changeable, and the stability is poor. Therefore, this paper uses the dynamics equation of underwater manipulator as the manipulator motion control system's control model, and proposes a motion control algorithm that depends on fuzzy superspiral sliding mode, which is able to overcome the difficulty of manipulator trajectory tracking and increase the stability and precision of the underwater fishing manipulator's control. The underwater manipulator's dynamics equation is used as the control model of the motion system, it illustrates the stability of the underwater manipulator control system using the Lyapunov stability theory. Combined with MATLAB and SIMULINK software co-simulation, the control effect of the underwater manipulator is analyzed, and the proposed control method's accuracy is confirmed, which provides a more accurate and effective control mode for the underwater manipulator.