Sliding Mode Observer-Based Heading Control for a Gliding Robotic Dolphin

doi:10.1109/TIE.2017.2674606

	Sliding Mode Observer-Based Heading Control for a Gliding Robotic Dolphin
	Yuan, Jun1,2 ; Wu, Zhengxing1,2 ; Yu, Junzhi1,2 ; Tan, Min1,2
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2017-08-01
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
DOI	10.1109/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：49[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	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
推荐引用方式 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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