Adaptive controller design for underwater snake robot with unmatched uncertainties

查看全文 作　　者：Anfan [1,3]ZHANG;Shugen [1,2]MA;Bin [1]LI;Minghui [1]WANG;Xian [1]GUO;Yuechao [1]WANG

机构地区：[1]State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;[2]Department of Robotics, Ritsumeikan University, Shiga-ken 525-8577, Japan;[3]University of Chinese Academy of Sciences, Beijing 100049, China

出　　处：《Science China(Information Sciences)》索引2016年第59卷第5期,共15页

基　　金：supported by National Natural Science Foundation of China (Grant No. 61333016) 摘　　要：Because of hydrodynamic model error of the present dynamic model, there is a challenge in controller design for the underwater snake-like robot. To tackle this challenge, this paper proposes an adaptive control schemes based on dynamic model for a planar, underwater snake-like robot with model error and time-varying noise. The adaptive control schemes aim to achieve the adaptive control of joint angles tracking and the direction of locomotion control. First, through approximation and reducibility using Taylor expansion method, a simplified dynamics model of a planar amphibious snake-like robot is derived. Then, the L1 adaptive controller based on piecewise constant adaptive law is applied on the simplified planar, underwater snake-like robot, which can deal with both matched and unmatched nonlinear uncertainties. Finally, to control the direction of locomotion, an auxiliary bias signal is used as the control input to regulate the locomotion direction. Simulation results show that this L1 adaptive controller is valid to deal with different uncertainties and achieve the joint angles tracking and fast adaptive at the same time. The modified L1 adaptive controller, in which the auxiliary bias item is added, has the ability to change the direction of locomotion, that is, the orientation angle is periodic with arbitrarily given constant on average. 关键词：自适应控制器水下机器人控制器设计非匹配简化动力学模型蛇形机器人机器人动力学运动控制

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Adaptive controller design for underwater snake robot with unmatched uncertainties

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