Depth hover control of spherical robot for internal detection of oil-immersed transformer

被引：0
|
作者：
Feng Y.-B. [1 ]
Zhao X.-H. [1 ,2 ]
He Z. [1 ]
Li Z.-G. [1 ]
Wang Y.-B. [1 ]
机构：
[1] URV Lab, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang
[2] University of Chinese Academy of Sciences, Beijing
来源：
Kongzhi yu Juece/Control and Decision | 2020年 / 35卷 / 02期
关键词：
Backstepping control; Fuzzy control; Lyapunov; Motion control; Sliding mode control; Spherical robot; Underwater robot;
D O I：
10.13195/j.kzyjc.2018.0953
中图分类号：
学科分类号：
摘要：
The depth hovering control problem of robots is studied such that the designed oil-immersed transformer inner detect robot can observe a specific depth direction point during the practical operation. By analyzing the control strategy of robots, according to the underwater robot dynamic theory, the dynamic model of robots in the transformer oil special medium is established. A robust backstepping sliding mode control method is proposed based on the robust backstepping control method and the adaptive sliding mode control theory. Meanwhile, a fuzzy controller is used to design the sliding mode surface switching gain to reduce the chattering caused by uncertain disturbances, and the stability of the control system is analyzed based on Lyapunov theory. Consequently, the spin and chattering problem of robots caused by coupling and external disturbance during the depth hover in transformer oil is solved. Finally, simulation and experiment results show the effectiveness of the proposed controller. © 2020, Editorial Office of Control and Decision. All right reserved.
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页码：375 / 381
页数：6
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