Finite Time Controller for Point Stabilization of a Spherical Underwater Roving Robot
Joint Authors
Sun, Hanxu
Jia, Qingxuan
Liu, Zhimin
Li, Yansheng
Chu, Ming
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-09-01
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
The finite time controller is proposed to solve the point stabilization problem for a novel underwater spherical roving robot (BYSQ-3) in two-dimensional space.
The finite time design scheme is a new method; the main advantage of this control scheme is that it can steer the robot to the origin in fast converging times without excessive control effort.
Firstly, the physical prototype of BYSQ-3 is introduced and the equations describing the kinematics and dynamics of BYSQ-3 are established.
Secondly, the finite time controller is constructed based on the backstepping method; the explicit form of the finite time controller is more concise compared with the other finite time controllers; there is no virtual input in the design process and the stability analysis is simple; the designed controller is easy for engineering implementation.
Thirdly, the hydrodynamic characteristics is analyzed by CFD simulation; the simulation and experiment results are presented to validate the shorter convergence time and better stability character of the controller.
American Psychological Association (APA)
Liu, Zhimin& Sun, Hanxu& Li, Yansheng& Jia, Qingxuan& Chu, Ming. 2016. Finite Time Controller for Point Stabilization of a Spherical Underwater Roving Robot. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1112743
Modern Language Association (MLA)
Liu, Zhimin…[et al.]. Finite Time Controller for Point Stabilization of a Spherical Underwater Roving Robot. Mathematical Problems in Engineering No. 2016 (2016), pp.1-13.
https://search.emarefa.net/detail/BIM-1112743
American Medical Association (AMA)
Liu, Zhimin& Sun, Hanxu& Li, Yansheng& Jia, Qingxuan& Chu, Ming. Finite Time Controller for Point Stabilization of a Spherical Underwater Roving Robot. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1112743
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112743