Coordinated Control of Underwater Biomimetic Vehicle-Manipulator System for Free Floating Autonomous Manipulation | |
Cai, Mingxue; Wang, Shuo; Wang, Yu; Wang, Rui; Tan, Min | |
刊名 | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
2019 | |
期号 | 无页码:无 |
关键词 | Adaptive Tracking Differentiator (Atd) Nonsingular Terminal Sliding-mode Control (Ntsmc) Underwater Autonomous Manipulation Vehicle–manipulator Coordinated Contron |
ISSN号 | 2168-2216 |
DOI | 10.1109/TSMC.2019.2944637 |
英文摘要 | This article presents a coordinated vehicle-manipulator control method for an underwater biomimetic vehicle-manipulator system (UBVMS) to implement floating autonomous manipulation in practice. An algorithm framework composed of adaptive tracking differentiator (ATD), extended state observer (ESO), improved nonsingular terminal sliding-mode control (I-NTSMC), fuzzy-logic controller (FLC), and estimator of manipulator disturbances, is proposed. The ATD is designed to generate desired motion state and alleviate noise. The ESO is developed to estimate the motion state, systematic uncertainties, and external disturbances. The proposed I-NTSMC method assures the finite-time convergence of the system states and alleviate chattering. The estimation of the manipulator disturbances is incorporated into the control strategy to enhance the station keeping of the vehicle. Finally, underwater autonomous free floating manipulation experiments about opening a door and grasping objects are conducted to validate the theoretical results and confirm the feasibility of the proposed control strategy. |
学科主题 | 工学 |
URL标识 | 查看原文 |
电子版国际标准刊号 | 2168-2232 |
出版地 | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
语种 | 英语 |
出版者 | IEEE |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/38546] |
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 | Institute of Automation, Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Cai, Mingxue,Wang, Shuo,Wang, Yu,et al. Coordinated Control of Underwater Biomimetic Vehicle-Manipulator System for Free Floating Autonomous Manipulation[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems,2019(无):无. |
APA | Cai, Mingxue,Wang, Shuo,Wang, Yu,Wang, Rui,&Tan, Min.(2019).Coordinated Control of Underwater Biomimetic Vehicle-Manipulator System for Free Floating Autonomous Manipulation.IEEE Transactions on Systems, Man, and Cybernetics: Systems(无),无. |
MLA | Cai, Mingxue,et al."Coordinated Control of Underwater Biomimetic Vehicle-Manipulator System for Free Floating Autonomous Manipulation".IEEE Transactions on Systems, Man, and Cybernetics: Systems .无(2019):无. |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
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。
修改评论