Sliding Mode Observer-Based Heading Control for a Gliding Robotic Dolphin
Yuan, Jun1,2; Wu, Zhengxing1,2; Yu, Junzhi1,2; Tan, Min1,2
2017-08-01
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷号64期号:8页码:6815-6824
文章类型Article
摘要This paper proposes a sliding mode observer (SMO)-based heading control method for the gliding motion of a dolphin-like gliding robot. A pair of flippers are employed to regulate gliding direction via differential actions, rather than actuators commonly used in traditional underwater gliders. The framework of the control algorithm is established based on a derived dynamic model, including an SMO, a backstepping controller, and a solver for action commands of the flippers. Considering gliding velocity is indispensable for heading control but difficult to measure practically, we design the SMO to estimate gliding velocity by data acquired from a depth sensor and an attitude and heading reference system. Afterward, the backstepping methodology is applied to derive the heading control law. Further, a solver is designed to convert the controller's instruction to deflection angles of the flippers, which can simultaneously eliminate coupled but undesired roll and sideslip. Simulation results obtained demonstrate the effectiveness of the proposed method.
关键词Gliding Robotic Dolphin Heading Control Sliding Mode Observer (Smo) Underwater Robotics
WOS标题词Science & Technology ; Technology
DOI10.1109/TIE.2017.2674606
关键词[WOS]TRACKING CONTROL ; SYSTEMS ; VEHICLE ; ROBUST
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61333016 ; Beijing Natural Science Foundation(4161002 ; 61421004 ; 4164103) ; 61633020 ; 61633017)
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号WOS:000405172300078
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/15256
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
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Yuan, Jun,Wu, Zhengxing,Yu, Junzhi,et al. Sliding Mode Observer-Based Heading Control for a Gliding Robotic Dolphin[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2017,64(8):6815-6824.
APA Yuan, Jun,Wu, Zhengxing,Yu, Junzhi,&Tan, Min.(2017).Sliding Mode Observer-Based Heading Control for a Gliding Robotic Dolphin.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,64(8),6815-6824.
MLA Yuan, Jun,et al."Sliding Mode Observer-Based Heading Control for a Gliding Robotic Dolphin".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 64.8(2017):6815-6824.
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