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题名: Adaptive controller design for underwater snake robot with unmatched uncertainties
作者: Zhang AF(张安翻); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Guo X(郭宪); Wang YC(王越超)
作者部门: 机器人学研究室
关键词: underwater snake-like robot ; adaptive control ; simplified system ; piecewise constant law ; unmatched uncertainties ; underactuated robots
刊名: SCIENCE CHINA-INFORMATION SCIENCES
ISSN号: 1674-733X
出版日期: 2016
卷号: 59, 期号:5, 页码:1-15
收录类别: SCI ; EI ; CSCD
产权排序: 1
项目资助者: National Natural Science Foundation of China [61333016]
摘要: Because of hydrodynamic model error of the present dynamic model, there is a challenge in controller design for the underwater snake-like robot. To tackle this challenge, this paper proposes an adaptive control schemes based on dynamic model for a planar, underwater snake-like robot with model error and time-varying noise. The adaptive control schemes aim to achieve the adaptive control of joint angles tracking and the direction of locomotion control. First, through approximation and reducibility using Taylor expansion method, a simplified dynamics model of a planar amphibious snake-like robot is derived. Then, the L1 adaptive controller based on piecewise constant adaptive law is applied on the simplified planar, underwater snake-like robot, which can deal with both matched and unmatched nonlinear uncertainties. Finally, to control the direction of locomotion, an auxiliary bias signal is used as the control input to regulate the locomotion direction. Simulation results show that this L1 adaptive controller is valid to deal with different uncertainties and achieve the joint angles tracking and fast adaptive at the same time. The modified L1 adaptive controller, in which the auxiliary bias item is added, has the ability to change the direction of locomotion, that is, the orientation angle is periodic with arbitrarily given constant on average.
语种: 英语
WOS记录号: WOS:000375885400023
WOS标题词: Science & Technology ; Technology
类目[WOS]: Computer Science, Information Systems
关键词[WOS]: EEL-LIKE ROBOT ; MOBILE MANIPULATORS ; LOCOMOTION ; MODEL ; SYSTEMS
研究领域[WOS]: Computer Science
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/18677
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
Zhang AF,Ma SG,Li B,et al. Adaptive controller design for underwater snake robot with unmatched uncertainties[J]. SCIENCE CHINA-INFORMATION SCIENCES,2016,59(5):1-15.
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