Disturbance Rejection Control for Underwater Free-Floating Manipulation

doi:10.1109/TMECH.2021.3129836

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	Disturbance Rejection Control for Underwater Free-Floating Manipulation
	Lv, Jiaqi 4,6; Wang, Yu 4; Tang, Chong 3,5; Wang, Shuo 2,4,6; Xu, Wenxing 1; Wang, Rui 4; Tan, Min 4,6
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	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.
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关键词	COMPENSATION ; TRACKING
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000734081900001
资助机构	National Key Research and Development Program of China ; Youth Innovation Promotion Association CAS ; National Natural Science Foundation of China
内容类型	期刊论文
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.Beijing Inst Petrochem Technol, Dept Automat, Beijing 102617, Peoples R China 2.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, 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.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, 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.