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Sliding Mode Control on the Balance Device of the Working Gesture of Underwater Robot

LI Min1,LIU He-ping2(1.School of Electronic Information Engineering,Henan University of Science & Technology,Luoyang471039,Henan,China;2.Department of Precision Machinery,School of Mechatronics Engineeringand Automation,Shanghai University,Shanghai 200072,China)  
The manipulator of underwater robots can make the robot change the center of the gravity partly when reaching out to work under the water,and cause the robot pitching.For a pitched robot,it′s not easy to adjust the position accurately.A control device was presented and applied to balance the gesture of the robot.A sliding mode controller was designed to control the balance device,with which a disturbance observer was used to estimate the disturbances.According to the results of the experiments on the pitching of a robot caused by the manipulators and detecting pan/tilt,this approach of control reduced the switching-gain of the control system greatly and weakened the dither more of course.And the practicability of the balance device is shown.
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