Knowledge Commons of Institute of Automation,CAS
Disturbance Rejection Control for Underwater Free-Floating Manipulation | |
Lv, Jiaqi1,2; Wang, Yu2; Tang, Chong3,4; Wang, Shuo1,2,5; Xu, Wenxing6; Wang, Rui2; Tan, Min1,2 | |
发表期刊 | IEEE-ASME TRANSACTIONS ON MECHATRONICS |
ISSN | 1083-4435 |
2022-10 | |
卷号 | 27期号:5页码:3742 - 3750 |
摘要 | This article presents a disturbance observer-based control (DOBC) framework for an autonomous underwater biomimetic vehicle-manipulator system (UBVMS) to implement underwater manipulation under unknown external disturbances. First, a fast arctangent nonsingularity terminal sliding mode controller (FANTSMC) with the inverse trigonometric function approach law is proposed to achieve the control of the UBVMS. Then, an improved high-order observer is proposed to track unknown disturbances including external disturbances and the manipulator compensation errors in a finite time. Finally, the DOBC framework, which consists of the FANTSMC and the disturbance observer, is applied to the underwater manipulation. Comparative simulations and practical underwater manipulation are conducted to validate the performance of our proposed method in disturbance tracking and underwater manipulation realization. |
关键词 | Disturbance observer-based control (DOBC) fast arctangent nonsingularity terminal sliding mode controller (FANTSMC) underwater biomimetic vehicle-manipulator system (UBVMS) underwater manipulation Estimation |
DOI | 10.1109/TMECH.2021.3129836 |
关键词[WOS] | COMPENSATION ; TRACKING |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Key Research and Development Program of China[2020YFC1512202] ; Youth Innovation Promotion Association CAS[2018162] ; National Natural Science Foundation of China[62122087] ; National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[62073316] ; National Natural Science Foundation of China[U1806204] ; National Natural Science Foundation of China[62033013] |
项目资助者 | National Key Research and Development Program of China ; Youth Innovation Promotion Association CAS ; National Natural Science Foundation of China |
WOS研究方向 | Automation & Control Systems ; Engineering |
WOS类目 | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
WOS记录号 | WOS:000734081900001 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/46972 |
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 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.NUCTECH Co Ltd, Beijing 100084, Peoples R China 4.Tsinghua Univ, Dept Comp Sci & Technol, Beijing 100084, Peoples R China 5.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, Peoples R China 6.Beijing Inst Petrochem Technol, Dept Automat, Beijing 102617, Peoples R China |
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 | Lv, Jiaqi,Wang, Yu,Tang, Chong,et al. Disturbance Rejection Control for Underwater Free-Floating Manipulation[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2022,27(5):3742 - 3750. |
APA | Lv, Jiaqi.,Wang, Yu.,Tang, Chong.,Wang, Shuo.,Xu, Wenxing.,...&Tan, Min.(2022).Disturbance Rejection Control for Underwater Free-Floating Manipulation.IEEE-ASME TRANSACTIONS ON MECHATRONICS,27(5),3742 - 3750. |
MLA | Lv, Jiaqi,et al."Disturbance Rejection Control for Underwater Free-Floating Manipulation".IEEE-ASME TRANSACTIONS ON MECHATRONICS 27.5(2022):3742 - 3750. |
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