PDF下载 分享
[1]李冀永,万磊,黄海,等.水下机器人-机械手系统自适应抗扰控制方法[J].天津大学学报(自然科学版),2018,(04):413-421.[doi:10.11784/tdxbz201701015]
 Li Jiyong,Wan Lei,Huang Hai,et al.Adaptive Control Method of Underwater Vehicle Manipulator System Under Disturbances[J].Journal of Tianjin University,2018,(04):413-421.[doi:10.11784/tdxbz201701015]
点击复制

水下机器人-机械手系统自适应抗扰控制方法

参考文献/References:

[1] 徐玉如, 肖坤. 智能海洋机器人技术进展[J]. 自动化学报, 2007, 33(5):518-521.
Xu Yuru, Xiao Kun. Technology development of autonomous ocean vehicle[J]. Acta Automatica Sinica, 2007, 33(5):518-521(in Chinese).
[2] 吴家鸣, 崔寅, 邓威, 等. 控制动作下带缆遥控水下机器人的水动力特性[J]. 华南理工大学学报:自然科学版, 2012, 40(4):150-157.
Wu Jiaming, Cui Yin, Deng Wei, et al. Hydrodynamic characteristics of tethered underwater robot under control manipulations[J]. Journal of South China University of Technology:Natural Science Edition, 2012, 40(4):150-157(in Chinese).
[3] 陈巍, 魏延辉, 曾建辉, 等. 水下机器人-机械手系统控制方法综述[J]. 重庆理工大学学报:自然科学版, 2015, 29(8):116-123.
Chen Wei, Wei Yanhui, Zeng Jianhui, et al. Review of underwater vehicle manipulator system control method [J]. Journal of Chongqing University of Technology:Natural Science, 2015, 29(8):116-123(in Chinese).
[4] Bian X, Qu Y, Yan Z, et al. Nonlinear feedback control for trajectory tracking of an unmanned underwater vehicle[C]//IEEE International Conference on Information and Automation(ICIA 2010). Harbin, China, 2010:1387-1392.
[5] Bagheri A, Karimi T, Amanifard N. Tracking performance control of a cable communicated underwater vehicle using adaptive neural network controllers[J]. Applied Soft Computing Journal, 2010, 10(3):908-918.
[6] Antonelli G, Caccavale F, Chiaverini S. Adaptive tracking control of underwater vehicle-manipulator systems based on the virtual decomposition approach[J]. IEEE Transactions on Robotics and Automation, 2004, 20(3):594-602.
[7] 郭莹. 水下自主作业系统协调控制技术研究[D]. 武汉:华中科技大学船舶与海洋工程学院, 2008.
Guo Ying. Coordinated Control Technology of Underwater Vehicle-Manipulator System[D]. Wuhan:School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, 2008(in Chinese).
[8] 彭生全. 水下机器人-机械手系统运动规划与控制技术研究[D]. 哈尔滨:哈尔滨工程大学机械与电气工程学院, 2012.
Peng Shengquan. Research on the Motion Planning and Control for Underwater Vehicle-Manipulator System [D]. Harbin:College of Mechanical and Electrical Engineering, Harbin Engineering University, 2012(in Chinese).
[9] Ismail Z H, Dunnigan M W. Redundancy resolution for underwater vehicle-manipulator systems with congruent gravity and buoyancy loading optimization[C]//Pro-ceedings of the 2009 IEEE International Conference on Robotics and Biomimetics. Guilin, China, 2009:1393-1399.
[10] Han Jonghui, Chung Wan Kyun. Active use of restoring moments for motion control of an underwater vehicle-manipulator system[J]. IEEE Journal of Oceanic Engineering, 2014, 39(1):100-109.
[11] James C K, Yang Q J, Jonathan C H. Nonlinear dynamic model-based state estimators for underwater navigation of remotely operated vehicles[J]. IEEE Transactions on Control Systems Technology, 2014, 22(5):1845-1854.
[12] Sairam P, Bradley B. Dynamics modeling and control of a variable length remotely operated vehicle tether[J]. Oceans, 2005, 2(2005):1255-1262.
[13] Mario A J, Jorge L B. Guidance of underwater vehicles with cable tug perturbations under fixed and adaptive control systems[J]. IEEE Journal of Oceanic Engineering, 2008, 33(4):579-598.
[14] 唐旭东, 庞永杰, 李晔. 基于S 模型的水下机器人改进人工免疫控制器[J]. 大连海事大学学报, 2008, 34(1):49-53.
Tang Xudong, Pang Yongjie, Li Ye. S model-based improved artificial immune controller for autonomous underwater vehicle[J]. Journal of Dalian Maritime University, 2008, 34(1):49-53(in Chinese).
[15] Montano A, Restelli M, Sacco R. Numerical simulation of tethered buoy dynamics using mixed finite elements computer methods[J]. Applied Mechanics and Engineering, 2007, 196(41/42/43/44):4117-4129.
[16] Tsai Lung-wen. Robot Analysis[M]. New York:Wiley, 1999.

备注/Memo

收稿日期: 2017-01-14; 修回日期: 2017-11-10.
作者简介: 李冀永(1992—), 男, 博士研究生, lijiyong@hrbeu.edu.cn.
通讯作者: 黄海, huanghai@hrbeu.edu.cn.
基金项目: 国家自然科学基金资助项目(61633009, 51579053, 51209050).
Supported by the National Natural Science Foundation of China(No.,61633009, No.,51579053 and No.,51209050).

更新日期/Last Update: 2018-04-10