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Sliding Mode Observer-Based Heading Control for a Gliding Robotic Dolphin
Yuan, Jun1,2; Wu, Zhengxing1,2; Yu, Junzhi1,2; Tan, Min1,2
AbstractThis 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.
KeywordGliding Robotic Dolphin Heading Control Sliding Mode Observer (Smo) Underwater Robotics
WOS HeadingsScience & Technology ; Technology
Indexed BySCI
Funding OrganizationNational Natural Science Foundation of China(61333016 ; Beijing Natural Science Foundation(4161002 ; 61421004 ; 4164103) ; 61633020 ; 61633017)
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000405172300078
Citation statistics
Cited Times:5[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Affiliation1.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
Recommended Citation
GB/T 7714
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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