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Alternative TitleResearch on Depth Hover Control of Spherical Robot for Internal Detection of Oil-immersed Transformer
冯迎宾1; 赵小虎1,2; 何震1; 李智刚1; 王亚彪1
Source Publication控制与决策
Indexed ByEI ; CSCD
EI Accession number20200908248768
Contribution Rank1
Keyword球形机器人 水下机器人 Lyapunov 反演控制 模糊控制 滑模控制 运动控制


Other Abstract

The depth hovering control problem of the robot is studied such that the designed oil-immersed transformer inner detect robot can observe a specific depth direction point during the practical operation. By analyzing the control strategy of the robot, according to the underwater robot dynamic theory, the dynamic model of robot in transformer oil special medium is established. A robust backstepping sliding mode control method is proposed based on the robust backstepping control method and the adaptive sliding mode control theory. Meanwhile a fuzzy controller is used to design the sliding mode surface switching gain to reduce the chattering caused by uncertain disturbances, and the stability of the control system is analyzed based on Lyapunov theory. Consequently, the spin and chattering problem of the robot caused by coupling and external disturbance during the depth hover in transformer oil is solved. Finally, simulation and experiment results was demonstrated to show the effectiveness of the proposed controller.

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Document Type期刊论文
Corresponding Author赵小虎
Recommended Citation
GB/T 7714
冯迎宾,赵小虎,何震,等. 油浸式变压器内部检测球形机器人的深度悬停控制研究[J]. 控制与决策,2020,35(2):375-381.
APA 冯迎宾,赵小虎,何震,李智刚,&王亚彪.(2020).油浸式变压器内部检测球形机器人的深度悬停控制研究.控制与决策,35(2),375-381.
MLA 冯迎宾,et al."油浸式变压器内部检测球形机器人的深度悬停控制研究".控制与决策 35.2(2020):375-381.
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