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Intelligent CPSS and its application to health care computing

带非匹配不确定性的水下蛇形机器人自适应控制器设计

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摘要

创新点

由于当前动力学模型中存在水动力误差和模型误差, 水下蛇形机器人控制器设计一直是一个挑战。 为了应对这一挑战, 本文提出了一种应用在水下蛇形机器人上的, 基于动力学模型的自适应控制方案, 该方案旨在实现关节角跟踪的自适应控制和运动方向控制。 MATLAB 仿真结果证明 L1 自适应控制器能够有效处理不同类型的不确定性 (模型误差和时变噪音), 且同时实现了关节角跟踪和快速自适应。 修正的L1自适应控制器 (增加辅助偏差信号) 能快速且稳定的改变水下蛇形机器人的运动方向。

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Correspondence to Bo Yang or Shang Gao.

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Liu, D., Yang, B., Gao, S. et al. Intelligent CPSS and its application to health care computing. Sci. China Inf. Sci. 59, 050103 (2016). https://doi.org/10.1007/s11432-016-5545-5

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关键词

  • 水下蛇形机器人
  • 自适应控制
  • 简化系统
  • 分段常数律
  • 欠驱动机器人