Backstepping Sliding Mode Hover Control Based on Nonlinear Disturbance Observer for Spherical Robot
文献类型：会议论文
| 作者 | Zhao XH(赵小虎)1,2 ; Feng YB(冯迎宾)2; He Z(何震)2; Li ZG(李智刚)2
|
| 出版日期 | 2018 |
| 会议日期 | September 16-17, 2018 |
| 会议地点 | Xiamen, CHINA |
| 关键词 | Spherical robot Underwater robot Nonlinear disturbance observer Backstepping sliding mode control Lyapunov |
| 页码 | 36-42 |
| 英文摘要 | Aiming at the hovering control problem of spherical robot used in transformer internal detection, a Backstepping sliding mode control method based on nonlinear disturbance observer was proposed to estimate and compensate the interference in robot motion direction. Firstly established the robot motion model, then the disturbance observer was constructed according to the system state equation, and the inverse sliding mode controller was proposed based on the Lyapunov stability theory. The simulation results showed that the designed nonlinear disturbance observer can effectively reduce the instability caused by the external disturbances in the horizontal and depth directions during the hovering process of the robot, it has strong robustness. |
| 产权排序 | 1 |
| 会议录 | 2018 International Conference on Electrical, Control, Automation and Robotics (ECAR 2018)
 |
| 会议录出版者 | DESTECH PUBLICATIONS, INC |
| 会议录出版地 | LANCASTER |
| 语种 | 英语 |
| ISSN号 | 2475-885X |
| ISBN号 | 978-1-60595-579-7 |
| WOS记录号 | WOS:000453087200007 |
| 源URL | [http://ir.sia.cn/handle/173321/23837]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | Zhao XH(赵小虎) |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing 101400, China 2.URV lab, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 10116, China |
| 推荐引用方式 GB/T 7714 | Zhao XH,Feng YB,He Z,et al. Backstepping Sliding Mode Hover Control Based on Nonlinear Disturbance Observer for Spherical Robot[C]. 见:. Xiamen, CHINA. September 16-17, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
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。