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Alternative TitleResearch on depth control of spherical robot in complex environment
赵小虎1,2; 冯迎宾1; 何震1; 李智刚1; 王亚彪1
Source Publication舰船科学技术
Keyword球形水下机器人 运动控制 干扰观测器 反步控制 Lyapunov
Other AbstractTo make the oil-immersed transformer internal inspection robot can maintain the high stability and maneuverability when checking operation, based on the force analysis and motion analysis of the robot in transformer oil, established the vertical motion model of robot in transformer oil. Considering the existence of unknown external disturbances, proposed a nonlinear disturbance observer based adaptive backstepping depth controller, and the stability of the system was proved by the Lyapunov function. Simulation and comparison experiments results show that the designed controller can accurately realize the target depth control in the complex operating environment, effectively solved the oscillation problem caused by the unknown interference of the robot in the complex environment, it has the characteristics of good robustness and high reliability.
Document Type期刊论文
Corresponding Author赵小虎
Recommended Citation
GB/T 7714
赵小虎,冯迎宾,何震,等. 复杂环境下球形机器人深度控制研究[J]. 舰船科学技术,2019,41(15):74-78.
APA 赵小虎,冯迎宾,何震,李智刚,&王亚彪.(2019).复杂环境下球形机器人深度控制研究.舰船科学技术,41(15),74-78.
MLA 赵小虎,et al."复杂环境下球形机器人深度控制研究".舰船科学技术 41.15(2019):74-78.
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