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Adaptive controller design for underwater snake robot with unmatched uncertainties
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)
Department机器人学研究室
Source PublicationSCIENCE CHINA-INFORMATION SCIENCES
ISSN1674-733X
2016
Volume59Issue:5Pages:1-15
Indexed BySCI ; EI ; CSCD
EI Accession number20160801996092
WOS IDWOS:000375885400023
CSCD IDCSCD:5712781
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China [61333016]
KeywordUnderwater Snake-like Robot Adaptive Control Simplified System Piecewise Constant Law Unmatched Uncertainties Underactuated Robots
AbstractBecause 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectComputer Science, Information Systems
WOS KeywordEEL-LIKE ROBOT ; MOBILE MANIPULATORS ; LOCOMOTION ; MODEL ; SYSTEMS
WOS Research AreaComputer Science
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/18677
Collection机器人学研究室
Corresponding AuthorWang MH(王明辉)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Department of Robotics, Ritsumeikan University, Shiga-ken, 525-8577, Japan
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
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.
APA Zhang AF,Ma SG,Li B,Wang MH,Guo X,&Wang YC.(2016).Adaptive controller design for underwater snake robot with unmatched uncertainties.SCIENCE CHINA-INFORMATION SCIENCES,59(5),1-15.
MLA Zhang AF,et al."Adaptive controller design for underwater snake robot with unmatched uncertainties".SCIENCE CHINA-INFORMATION SCIENCES 59.5(2016):1-15.
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