Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot | |
Tang JG(唐敬阁)1,2,3; Li B(李斌)2,3; Chang J(常健)2,3; Zhang AQ(张艾群)2,3 | |
刊名 | Science China Information Sciences |
2020 | |
卷号 | 63页码:1-13 |
关键词 | underwater gliding snake-like robot sliding mode control, reaching law nonlinear observer unscented Kalman filter robustness |
ISSN号 | 1674-733X |
产权排序 | 1 |
英文摘要 | With its strong endurance and high maneuverability, an underwater gliding snake-like robot (UGSR) is a strong potential candidate for aquatic exploration and monitoring. The major feature of the UGSR, which distinguishes it from other snake-like robots, is long range and long operation duration by gliding. This study establishes a gliding motion control system for the UGSR based on a sliding mode controller (SMC). The control system stabilizes the system and suppresses the uncertainties and unknown disturbances. In this strategy, chattering is reduced based on the reaching law method. To circumvent the difficulty of velocity measurements, a nonlinear observer based on an unscented Kalman filter (UKF) is employed for state estimation and random noise handling. The effectiveness of the proposed controller and observer is verified by simulating the UKF-based SMC closed-loop system. |
语种 | 英语 |
资助机构 | National Key Research and Development Project of China (Grant No. 2017YFB1300101) |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/26171] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Chang J(常健) |
作者单位 | 1.University of Chinese Academy of Sciences, Beijing 100049, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
推荐引用方式 GB/T 7714 | Tang JG,Li B,Chang J,et al. Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot[J]. Science China Information Sciences,2020,63:1-13. |
APA | Tang JG,Li B,Chang J,&Zhang AQ.(2020).Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot.Science China Information Sciences,63,1-13. |
MLA | Tang JG,et al."Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot".Science China Information Sciences 63(2020):1-13. |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
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