Backstepping Sliding Mode Hover Control Based on Nonlinear Disturbance Observer for Spherical Robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Backstepping Sliding Mode Hover Control Based on Nonlinear Disturbance Observer for Spherical Robot
	Zhao XH(赵小虎)1,2; Feng YB(冯迎宾)1; He Z(何震)1; Li ZG(李智刚)1
	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
内容类型	会议论文
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.URV lab, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 10116, China 2.University of Chinese Academy of Sciences, Beijing 101400, 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.