Dynamic Surface Control for an Underactuated Underwater Biomimetic Vehicle-Manipulator System
文献类型：会议论文
| 作者 | Bai XJ(白雪剑)1,2 ; Wang Y(王宇)1; Wang R(王睿)1; Wang S(王硕)1,2; Tan M(谭民)1,2
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| 出版日期 | 2021 |
| 会议日期 | 15-19 July 2021 |
| 会议地点 | Xining, China |
| DOI | 10.1109/RCAR52367.2021.9517609 |
| 英文摘要 | In this paper, a position control method based on an improved dynamic surface control is proposed for an underactuated underwater biomimetic vehicle-manipulator system (UBVMS) driven by undulatory fin propulsors. A surge force adaptive process is designed to solve the underactuated problem of the UBVMS. And the proposed closed-loop control system is verified to be stable in terms of Lyapunov theory. Simulation results indicate that the proposed control method has good control effectiveness. Finally, experiments in an indoor experiment pool are implemented to validate the control method's feasibility and robustness in the applications of UBVMSs. |
| 语种 | 英语 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/46585]  |
| 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.中国科学院自动化研究所 2.中国科学院大学 |
| 推荐引用方式 GB/T 7714 | Bai XJ,Wang Y,Wang R,et al. Dynamic Surface Control for an Underactuated Underwater Biomimetic Vehicle-Manipulator System[C]. 见:. Xining, China. 15-19 July 2021. |
入库方式： OAI收割
来源：自动化研究所
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