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Fuzzy Sliding Mode Control on the Rolling of Underwater Robot in Wave

LIU He-ping1,GONG Zhen-bang1,LI Min2,XIA Hong-xia3(1.Department of Precision Machinery,School of Mechatronics Engineering and Automation,Shanghai University,Shanghai 200072,China;2.School of Electronic Information Engineering,Henan University of Science & Technology,Luoyang 471039,China;3.School of Computer Science and Technology,Wuhan University of Technology,Wuhan 430070,China)  
This paper deals with the modeling,numerical calculus of the rolling motion of a small open-frame underwater robot in wave.Then,an adaptive fuzzy sliding mode control method is presented to disturb the rolling response process of the ROV by using the lateral thrusters to reduce the rolling amplitude when the manipulators are working.It is proved that the method is effective by comparing the results between the simulation and the numerical calculus.Similar research on ROV attitudes in wave has not been found.Some explorations are made here.A further comprehensive method of control about rolling and pitching simultaneously and respectively is also proposed.
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