Adaptive controller design for underwater snake robot with unmatched uncertainties
文献类型：期刊论文
| 作者 | Zhang AF(张安翻) ; Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Guo X(郭宪); Wang YC(王越超)
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| 刊名 | SCIENCE CHINA-INFORMATION SCIENCES
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| 出版日期 | 2016 |
| 卷号 | 59期号:5页码:1-15 |
| 关键词 | underwater snake-like robot adaptive control simplified system piecewise constant law unmatched uncertainties underactuated robots |
| ISSN号 | 1674-733X |
| 产权排序 | 1 |
| 通讯作者 | 赵怀慈 |
| 中文摘要 | Because of hydrodynamic model error of the present dynamic model, there is a challenge in controller design for the underwater snake-like robot. To tackle this challenge, this paper proposes an adaptive control schemes based on dynamic model for a planar, underwater snake-like robot with model error and time-varying noise. The adaptive control schemes aim to achieve the adaptive control of joint angles tracking and the direction of locomotion control. First, through approximation and reducibility using Taylor expansion method, a simplified dynamics model of a planar amphibious snake-like robot is derived. Then, the L1 adaptive controller based on piecewise constant adaptive law is applied on the simplified planar, underwater snake-like robot, which can deal with both matched and unmatched nonlinear uncertainties. Finally, to control the direction of locomotion, an auxiliary bias signal is used as the control input to regulate the locomotion direction. Simulation results show that this L1 adaptive controller is valid to deal with different uncertainties and achieve the joint angles tracking and fast adaptive at the same time. The modified L1 adaptive controller, in which the auxiliary bias item is added, has the ability to change the direction of locomotion, that is, the orientation angle is periodic with arbitrarily given constant on average. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems |
| 研究领域[WOS] | Computer Science |
| 关键词[WOS] | EEL-LIKE ROBOT ; MOBILE MANIPULATORS ; LOCOMOTION ; MODEL ; SYSTEMS |
| 收录类别 | SCI ; EI ; CSCD |
| 语种 | 英语 |
| WOS记录号 | WOS:000375885400023 |
| 源URL | [http://ir.sia.cn/handle/173321/18677]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhang AF,Ma SG,Li B,et al. Adaptive controller design for underwater snake robot with unmatched uncertainties[J]. SCIENCE CHINA-INFORMATION SCIENCES,2016,59(5):1-15. |
| APA | Zhang AF,Ma SG,Li B,Wang MH,Guo X,&Wang YC.(2016).Adaptive controller design for underwater snake robot with unmatched uncertainties.SCIENCE CHINA-INFORMATION SCIENCES,59(5),1-15. |
| MLA | Zhang AF,et al."Adaptive controller design for underwater snake robot with unmatched uncertainties".SCIENCE CHINA-INFORMATION SCIENCES 59.5(2016):1-15. |
入库方式： OAI收割
来源：沈阳自动化研究所
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