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Research on coordinated control for the floating body and mining robot
Feng YB(冯迎宾); Li ZG(李智刚); He Z(何震); Wang XH(王晓辉); Zhang QF(张奇峰)
作者部门水下机器人研究室
会议名称OCEANS 2016 MTS/IEEE Monterey
会议日期September 19-23, 2016
会议地点Monterey, Canada
会议录名称OCEANS 2016 MTS/IEEE Monterey
出版者IEEE
出版地New York
2016
页码1-4
收录类别EI ; CPCI(ISTP)
EI收录号20165203178462
WOS记录号WOS:000399929000113
产权排序1
ISBN号978-1-5090-1527-6
关键词Mining Robot Ukf Potential Energy Function Lasalle's Invariance Principle
摘要The mining robot, which has a large size and weight, is easy to slip and sink during the mining process. For this problem, we propose hydraulic station suspension technology in this paper. By using the technology, the hydraulic station is separated from the mining robot and designed as an independent floating body, which is helpful for increasing the travelling capability of mining robot. The relative position between the floating body and mining robot can be obtained by UKF. Based on this, we study a coordinated control algorithm for the floating body and mining robot in this paper. The coordinate motion controller, whose convergence is proved by LaSalle's invariance principle, is designed according to the potential energy function of the floating body and mining robot. The algorithm is tested by using MATLAB. The results show that the coordination control algorithm can maintain the relative positions between the floating body and mining robot and make them do coordinate motion, which can be free from the effect of ocean current.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19690
专题水下机器人研究室
通讯作者Feng YB(冯迎宾)
作者单位Shenyang Institute of Automation, CAS, Shenyang, China
推荐引用方式
GB/T 7714
Feng YB,Li ZG,He Z,et al. Research on coordinated control for the floating body and mining robot[C]. New York:IEEE,2016:1-4.
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