Reaction-Wheel-Based Roll Stabilization for a Robotic Fish Using Neural Network Sliding Mode Control
文献类型：期刊论文
| 作者 | Zhang, Pengfei1,2 ; Wu, Zhengxing1,2; Dong, Huijie1,2; Tan, Min1,2; Yu, Junzhi1,3
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| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
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| 出版日期 | 2020-08-01 |
| 卷号 | 25期号:4页码:1904-1911 |
| 关键词 | Mobile robots Wheels Rotors Robot sensing systems Stability analysis Mechatronics Neural network feedforward control reaction wheel robotic fish roll stability sliding mode control |
| ISSN号 | 1083-4435 |
| DOI | 10.1109/TMECH.2020.2992038 |
| 通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
| 英文摘要 | The intrinsically reciprocating motion in fishlike propulsion causes severe attitude instability of a robotic fish, which poses enormous challenges for environmental perception and autonomous operation. To address this issue, in this article, we propose a reaction-wheel-based control framework for guaranteeing the roll stability of the robotic fish. The mechatronic design and dynamic model of the designed robotic fish with an internal rotor are presented. By means of the simplified model and frequency domain analysis, the effect factors about roll stability are concretely analyzed. More importantly, a hybrid controller that combines a sliding mode controller with a neural network feedforward compensator is developed to reject the severe disturbance on roll angle. Then, the Lyapunov stability theory is utilized to analyze the stability and convergence property of the closed-loop system. Finally, the experimental results show that the proposed methods possess more significant performances than the passive stabilization method, which provides a valuable reference for attitude stabilization control and robust environmental perception of underwater robots. |
| WOS关键词 | TRACKING |
| 资助项目 | National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61973303] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[61421004] ; Key Research Program of Frontier Sciences, CAS[QYZDJ-SSW-JSC004] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000560671600024 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Key Research Program of Frontier Sciences, CAS |
| 源URL | [http://ir.ia.ac.cn/handle/173211/40493]  |
| 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 |
| 通讯作者 | Yu, Junzhi |
| 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, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Peking Univ, Coll Engn, BIC ESAT, Dept Mech & Engn,State Key Lab Turbulence & Compl, Beijing 100871, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Pengfei,Wu, Zhengxing,Dong, Huijie,et al. Reaction-Wheel-Based Roll Stabilization for a Robotic Fish Using Neural Network Sliding Mode Control[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2020,25(4):1904-1911. |
| APA | Zhang, Pengfei,Wu, Zhengxing,Dong, Huijie,Tan, Min,&Yu, Junzhi.(2020).Reaction-Wheel-Based Roll Stabilization for a Robotic Fish Using Neural Network Sliding Mode Control.IEEE-ASME TRANSACTIONS ON MECHATRONICS,25(4),1904-1911. |
| MLA | Zhang, Pengfei,et al."Reaction-Wheel-Based Roll Stabilization for a Robotic Fish Using Neural Network Sliding Mode Control".IEEE-ASME TRANSACTIONS ON MECHATRONICS 25.4(2020):1904-1911. |
入库方式： OAI收割
来源：自动化研究所
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