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 |
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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Sliding mode fuzzy c(699KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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