Knowledge Commons of Institute of Automation,CAS
Coordinated Control of Underwater Biomimetic Vehicle-Manipulator System for Free Floating Autonomous Manipulation | |
Cai, Mingxue; Wang, Shuo; Wang, Yu; Wang, Rui; Tan, Min | |
发表期刊 | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
ISSN | 2168-2216 |
2019 | |
卷号 | 51期号:无页码:无 |
通讯作者 | Wang, Yu(yu.wang@ia.ac.cn) |
摘要 | This article presents a coordinated vehicle-manipulator control method for an underwater biomimetic vehicle-manipulator system (UBVMS) to implement floating autonomous manipulation in practice. An algorithm framework composed of adaptive tracking differentiator (ATD), extended state observer (ESO), improved nonsingular terminal sliding-mode control (I-NTSMC), fuzzy-logic controller (FLC), and estimator of manipulator disturbances, is proposed. The ATD is designed to generate desired motion state and alleviate noise. The ESO is developed to estimate the motion state, systematic uncertainties, and external disturbances. The proposed I-NTSMC method assures the finite-time convergence of the system states and alleviate chattering. The estimation of the manipulator disturbances is incorporated into the control strategy to enhance the station keeping of the vehicle. Finally, underwater autonomous free floating manipulation experiments about opening a door and grasping objects are conducted to validate the theoretical results and confirm the feasibility of the proposed control strategy. |
关键词 | Adaptive Tracking Differentiator (Atd) Nonsingular Terminal Sliding-mode Control (Ntsmc) Underwater Autonomous Manipulation Vehicle–manipulator Coordinated Contron |
学科领域 | 工学 |
学科门类 | 控制科学与工程 |
DOI | 10.1109/TSMC.2019.2944637 |
关键词[WOS] | PRIORITY REDUNDANCY RESOLUTION ; TASK |
URL | 查看原文 |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Key Research and Development Program of China[2017YFB1300101] ; National Natural Science Foundation of China[U1713222] |
项目资助者 | National Key Research and Development Program of China ; National Natural Science Foundation of China |
WOS研究方向 | Automation & Control Systems ; Computer Science |
WOS类目 | Automation & Control Systems ; Computer Science, Cybernetics |
WOS记录号 | WOS:000673624500017 |
出版者 | IEEE |
七大方向——子方向分类 | 智能控制 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/38546 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Wang, Yu |
作者单位 | Institute of Automation, Chinese Academy of Sciences |
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 | Cai, Mingxue,Wang, Shuo,Wang, Yu,et al. Coordinated Control of Underwater Biomimetic Vehicle-Manipulator System for Free Floating Autonomous Manipulation[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems,2019,51(无):无. |
APA | Cai, Mingxue,Wang, Shuo,Wang, Yu,Wang, Rui,&Tan, Min.(2019).Coordinated Control of Underwater Biomimetic Vehicle-Manipulator System for Free Floating Autonomous Manipulation.IEEE Transactions on Systems, Man, and Cybernetics: Systems,51(无),无. |
MLA | Cai, Mingxue,et al."Coordinated Control of Underwater Biomimetic Vehicle-Manipulator System for Free Floating Autonomous Manipulation".IEEE Transactions on Systems, Man, and Cybernetics: Systems 51.无(2019):无. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Coordinated Control (2380KB) | 期刊 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论