Sliding Mode Observer-Based Heading Control for a Gliding Robotic Dolphin

doi:10.1109/TIE.2017.2674606

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Sliding Mode Observer-Based Heading Control for a Gliding Robotic Dolphin
	Yuan, Jun1,2 ; Wu, Zhengxing1,2 ; Yu, Junzhi1,2 ; Tan, Min1,2
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2017-08-01
卷号	64 期号:8 页码:6815-6824
关键词	Gliding Robotic Dolphin Heading Control Sliding Mode Observer (Smo) Underwater Robotics
DOI	10.1109/TIE.2017.2674606
文献子类	Article
英文摘要	This paper proposes a sliding mode observer (SMO)-based heading control method for the gliding motion of a dolphin-like gliding robot. A pair of flippers are employed to regulate gliding direction via differential actions, rather than actuators commonly used in traditional underwater gliders. The framework of the control algorithm is established based on a derived dynamic model, including an SMO, a backstepping controller, and a solver for action commands of the flippers. Considering gliding velocity is indispensable for heading control but difficult to measure practically, we design the SMO to estimate gliding velocity by data acquired from a depth sensor and an attitude and heading reference system. Afterward, the backstepping methodology is applied to derive the heading control law. Further, a solver is designed to convert the controller's instruction to deflection angles of the flippers, which can simultaneously eliminate coupled but undesired roll and sideslip. Simulation results obtained demonstrate the effectiveness of the proposed method.
WOS关键词	TRACKING CONTROL ; SYSTEMS ; VEHICLE ; ROBUST
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
WOS记录号	WOS:000405172300078
资助机构	National Natural Science Foundation of China(61333016 ; Beijing Natural Science Foundation(4161002 ; 61421004 ; 4164103) ; 61633020 ; 61633017)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/15256]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Yuan, Jun,Wu, Zhengxing,Yu, Junzhi,et al. Sliding Mode Observer-Based Heading Control for a Gliding Robotic Dolphin[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2017,64(8):6815-6824.
APA	Yuan, Jun,Wu, Zhengxing,Yu, Junzhi,&Tan, Min.(2017).Sliding Mode Observer-Based Heading Control for a Gliding Robotic Dolphin.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,64(8),6815-6824.
MLA	Yuan, Jun,et al."Sliding Mode Observer-Based Heading Control for a Gliding Robotic Dolphin".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 64.8(2017):6815-6824.