Knowledge Commons of Institute of Automation,CAS
2-DOF camera stabilization platform for robotic fish based on active disturbance rejection control | |
Pengfei Zhang1,2![]() ![]() ![]() ![]() | |
2020-04 | |
会议名称 | 2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) |
会议日期 | 2019-7 |
会议地点 | Suzhou, China |
摘要 | This paper proposes a novel 2-DOF stabilization platform for vision application of robotic fish to enhance the stability of image and reject the periodic disturbance from yaw and roll channels caused by fish’s swimming. The problem formulation and system framework of camera stabilization are first discussed. In order to achieve better control effect, forward and inverse kinematics of the 2-DOF gimbal are derived, which combine the feedback of IMU and target states to calculate controllers’ ideal input. Meanwhile, linear active disturbance rejection control (ADRC) without tracking differentiator is adopted in our system, on account of its superior performance to compensate uncertainties and disturbance. Finally, experimental results demonstrate that the error angle of ADRC is obviously smaller than PD and feedback-feedforward control. Furthermore, compared with 1-DOF stabilization platform, the 2-DOF one exhibits the overwhelming advantage about the enhancement of image stability. |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/48915 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences 3.Beijing Innovation Center for Engineering Science and Advanced Technology, Peking University |
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 | Pengfei Zhang,Zhengxing Wu,Jian Wang,et al. 2-DOF camera stabilization platform for robotic fish based on active disturbance rejection control[C],2020. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
2-DOF camera stabili(670KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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