查看更多>>摘要：By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Current study results on Robotics have been published. According to news originating from Beijing, People’s Republic o f China, by NewsRx correspondents, research stated, “For field tasks, it is quit e challenged to operate in a complex environment for the underwater robots, espe cially for those with multiple control surfaces due to different response and ga in characteristics. To this end, this paper develops a highly integrated robotic dolphin followed by a robust motion control system.” Our news journalists obtained a quote from the research from the University of t he Chinese Academy of Sciences, “For better maneuverability and fault-tolerant c apabilities, a newly-designed robotic dolphin is presented, owning a wide array of sensors and multiple control surfaces, in which passive flukes are particular ly applied. On this basis, a robust motion control system is proposed, including a depth controller based on velocity-related allocation strategies and a headin g controller based on clearance compensation. In detail, considering the degrada tion of motion performance caused by passive flukes, a sliding mode controller f or gain uncertainty and an allocation-related parameter tuning strategy for inpu ts response characteristics are designed. Extensive simulations and aquatic expe riments are conducted, and the obtained results demonstrate the satisfied maneuv erability of the designed prototype and the effectiveness of the proposed method s. This study can lay a foundation for further development of robotic dolphins w ith a robust motion system to execute complex tasks in the field. Note to Practi tioners-This paper is inspired by the issue of robust motion control system for a newly-designed practical robotic dolphin that possesses a passive tail and red undant control surfaces. The traditional methods are usually susceptible to unce rtainties in the passive tail gain, exhibiting degraded control performance. Mor eover, control oscillations and slow convergence speed often occur caused by neg lecting the characteristics of different control surfaces, including response pa tterns and clearance. This paper suggests a robust depth controller based on vel ocity-related allocation strategies and a robust heading controller based on cle arance compensation. Specifically, an allocationrelated parameter tuning strate gy is given by considering inputs response characteristics, including response s peed, saturations, and hydrodynamic force variation patterns. To guarantee fine regulations of heading control, a nonlinear disturbance observer (NDOB)-based cl earance compensation is proposed. Extensive aquatic experiments on the newly-des igned robotic dolphin verified the effectiveness of the proposed methods.”
NETL
NSTL