Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space
Joint Authors
Zeng, Zhi-Lin
Xu, Guo-Hua
Zhao, Yin
Xie, Fei
Source
Journal of Control Science and Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-03-24
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
This paper focuses on high precision leveling control of an underwater heavy load platform, which is viewed as an underwater parallel robot on the basis of its work pattern.
The kinematic of platform with deformation is analyzed and the dynamics model of joint space is established.
An adaptive backstepping controller according to Lyapunov's function is proposed for leveling control of platform based on joint space.
Furthermore, the “lowest point fixed angle error” leveling scheme called “chase” is chosen for leveling control of platform.
The digital simulation and practical experiment of single joint space actuator are carried out, and the results show high precision servo control of joint space.
On the basis of this, the platform leveling control simulation relies on the hardware-in-loop system.
The results indicate that the proposed controller can effectively restrain the influence from system parameter uncertainties and external disturbance to realize high precision leveling control of the underwater platform.
American Psychological Association (APA)
Zeng, Zhi-Lin& Xu, Guo-Hua& Zhao, Yin& Xie, Fei. 2014. Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space. Journal of Control Science and Engineering،Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1040219
Modern Language Association (MLA)
Zeng, Zhi-Lin…[et al.]. Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space. Journal of Control Science and Engineering No. 2014 (2014), pp.1-13.
https://search.emarefa.net/detail/BIM-1040219
American Medical Association (AMA)
Zeng, Zhi-Lin& Xu, Guo-Hua& Zhao, Yin& Xie, Fei. Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space. Journal of Control Science and Engineering. 2014. Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1040219
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1040219