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Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot
Tang JG(唐敬阁)1,2,3; Li B(李斌)1,2; Chang J(常健)1,2; Zhang AQ(张艾群)1,2
Department机器人学研究室
Source PublicationScience China Information Sciences
ISSN1674-733X
2020
Volume63Issue:1Pages:1-13
Indexed BySCI ; EI ; CSCD
EI Accession number20195307950409
WOS IDWOS:000517248900001
CSCD IDCSCD:6655426
Contribution Rank1
Funding OrganizationNational Key Research and Development Project of China (Grant No. 2017YFB1300101) ; National Key Research and Development Project of China (Grant No. 2017YFB1300101)
Keywordunderwater gliding snake-like robot sliding mode control, reaching law nonlinear observer unscented Kalman filter robustness
Abstract

With its strong endurance and high maneuverability, an underwater gliding snake-like robot (UGSR) is a strong potential candidate for aquatic exploration and monitoring. The major feature of the UGSR, which distinguishes it from other snake-like robots, is long range and long operation duration by gliding. This study establishes a gliding motion control system for the UGSR based on a sliding mode controller (SMC). The control system stabilizes the system and suppresses the uncertainties and unknown disturbances. In this strategy, chattering is reduced based on the reaching law method. To circumvent the difficulty of velocity measurements, a nonlinear observer based on an unscented Kalman filter (UKF) is employed for state estimation and random noise handling. The effectiveness of the proposed controller and observer is verified by simulating the UKF-based SMC closed-loop system.

Language英语
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic
WOS KeywordVEHICLE ; SYSTEMS ; DESIGN
WOS Research AreaComputer Science ; Engineering
Funding ProjectNational Key Research and Development Project of China[2017YFB1300101]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26171
Collection机器人学研究室
Corresponding AuthorChang J(常健)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
5.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
6.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Tang JG,Li B,Chang J,et al. Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot[J]. Science China Information Sciences,2020,63(1):1-13.
APA Tang JG,Li B,Chang J,&Zhang AQ.(2020).Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot.Science China Information Sciences,63(1),1-13.
MLA Tang JG,et al."Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot".Science China Information Sciences 63.1(2020):1-13.
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