Disturbance Rejection Control for Underwater Free-Floating Manipulation
文献类型：期刊论文
| 作者 | Lv, Jiaqi2,4 ; Wang, Yu4; Tang, Chong3,5; Wang, Shuo1,2,4; Xu, Wenxing6; Wang, Rui4; Tan, Min2,4
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| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
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| 出版日期 | 2021-12-21 |
| 页码 | 9 |
| 关键词 | Manipulators Task analysis Propulsion Estimation Disturbance observers Mechatronics IEEE transactions Disturbance observer-based control (DOBC) fast arctangent nonsingularity terminal sliding mode controller (FANTSMC) underwater biomimetic vehicle-manipulator system (UBVMS) underwater manipulation |
| ISSN号 | 1083-4435 |
| DOI | 10.1109/TMECH.2021.3129836 |
| 通讯作者 | Wang, Yu(yu.wang@ia.ac.cn) |
| 英文摘要 | This article presents a disturbance observer-based control (DOBC) framework for an autonomous underwater biomimetic vehicle-manipulator system (UBVMS) to implement underwater manipulation under unknown external disturbances. First, a fast arctangent nonsingularity terminal sliding mode controller (FANTSMC) with the inverse trigonometric function approach law is proposed to achieve the control of the UBVMS. Then, an improved high-order observer is proposed to track unknown disturbances including external disturbances and the manipulator compensation errors in a finite time. Finally, the DOBC framework, which consists of the FANTSMC and the disturbance observer, is applied to the underwater manipulation. Comparative simulations and practical underwater manipulation are conducted to validate the performance of our proposed method in disturbance tracking and underwater manipulation realization. |
| WOS关键词 | COMPENSATION ; TRACKING |
| 资助项目 | National Key Research and Development Program of China[2020YFC1512202] ; Youth Innovation Promotion Association CAS[2018162] ; National Natural Science Foundation of China[62122087] ; National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[62073316] ; National Natural Science Foundation of China[U1806204] ; National Natural Science Foundation of China[62033013] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000734081900001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Key Research and Development Program of China ; Youth Innovation Promotion Association CAS ; National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/46971]  |
| 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 | Wang, Yu |
| 作者单位 | 1.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Tsinghua Univ, Dept Comp Sci & Technol, Beijing 100084, Peoples R China 4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 5.NUCTECH Co Ltd, Beijing 100084, Peoples R China 6.Beijing Inst Petrochem Technol, Dept Automat, Beijing 102617, Peoples R China |
| 推荐引用方式 GB/T 7714 | Lv, Jiaqi,Wang, Yu,Tang, Chong,et al. Disturbance Rejection Control for Underwater Free-Floating Manipulation[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2021:9. |
| APA | Lv, Jiaqi.,Wang, Yu.,Tang, Chong.,Wang, Shuo.,Xu, Wenxing.,...&Tan, Min.(2021).Disturbance Rejection Control for Underwater Free-Floating Manipulation.IEEE-ASME TRANSACTIONS ON MECHATRONICS,9. |
| MLA | Lv, Jiaqi,et al."Disturbance Rejection Control for Underwater Free-Floating Manipulation".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021):9. |
入库方式： OAI收割
来源：自动化研究所
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