Sliding mode fuzzy control-based path-following control for a dolphin robot
Liu JC(刘金存)1,2; Wu ZX(吴正兴)1; Yu JZ(喻俊志)1; Tan M(谭民)1
发表期刊SCIENCE CHINA Information Sciences
2018-02-01
期号61页码:024201:1–024201:3
摘要

This paper is to offer a sliding mode fuzzy control (SMFC) method for a dolphin robot to follow some paths in a horizontal plane. In order to describe the dolphin-like swimming, we first derive the dynamic model of the dolphin robot. Then, a line-of-sight (LOS) guidance law is presented to acquire the desired course angle, which relies on the absolute velocity to compensate for the effect of the sideslip angle. Thatafter, a sliding mode controller (SMC) method is constructed to overcome systematic uncertainties and environmental disturbances, and the asymptotic stability of the control scheme is investigated via the Lyapunov stability
theory. Furthermore, a fuzzy logic controller is employed to build the mapping relationship between the outputs from SMC and the actual control signals for the dolphin robot. Finally, both simulations and experiments are presented to validate the effectiveness of the proposed method.  

关键词Dolphin robot path-following sliding mode control
收录类别SCI
语种英语
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/22356
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yu JZ(喻俊志)
作者单位1.中国科学院自动化研究所
2.中国科学院大学
第一作者单位中国科学院自动化研究所
通讯作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
Liu JC,Wu ZX,Yu JZ,et al. Sliding mode fuzzy control-based path-following control for a dolphin robot[J]. SCIENCE CHINA Information Sciences,2018(61):024201:1–024201:3.
APA Liu JC,Wu ZX,Yu JZ,&Tan M.(2018).Sliding mode fuzzy control-based path-following control for a dolphin robot.SCIENCE CHINA Information Sciences(61),024201:1–024201:3.
MLA Liu JC,et al."Sliding mode fuzzy control-based path-following control for a dolphin robot".SCIENCE CHINA Information Sciences .61(2018):024201:1–024201:3.
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