Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space
This paper focuses on high precision leveling control of an underwater heavy load platform, which is viewed as an underwater parallel robot on the basis of its work pattern. The kinematic of platform with deformation is analyzed and the dynamics model of joint space is established. An adaptive backs...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2014/989717 |
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| _version_ | 1850238041935839232 |
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| author | Zhi-Lin Zeng Guo-Hua Xu Yin Zhao Fei Xie |
| author_facet | Zhi-Lin Zeng Guo-Hua Xu Yin Zhao Fei Xie |
| author_sort | Zhi-Lin Zeng |
| collection | DOAJ |
| description | This paper focuses on high precision leveling control of an underwater heavy load platform, which is viewed as an underwater parallel robot on the basis of its work pattern. The kinematic of platform with deformation is analyzed and the dynamics model of joint space is established. An adaptive backstepping controller according to Lyapunov's function is proposed for leveling control of platform based on joint space. Furthermore, the “lowest point fixed angle error” leveling scheme called “chase” is chosen for leveling control of platform. The digital simulation and practical experiment of single joint space actuator are carried out, and the results show high precision servo control of joint space. On the basis of this, the platform leveling control simulation relies on the hardware-in-loop system. The results indicate that the proposed controller can effectively restrain the influence from system parameter uncertainties and external disturbance to realize high precision leveling control of the underwater platform. |
| format | Article |
| id | doaj-art-084700842c174bd2aaca6fb3994e67d5 |
| institution | OA Journals |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-084700842c174bd2aaca6fb3994e67d52025-08-20T02:01:35ZengWileyJournal of Control Science and Engineering1687-52491687-52572014-01-01201410.1155/2014/989717989717Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint SpaceZhi-Lin Zeng0Guo-Hua Xu1Yin Zhao2Fei Xie3School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaThis paper focuses on high precision leveling control of an underwater heavy load platform, which is viewed as an underwater parallel robot on the basis of its work pattern. The kinematic of platform with deformation is analyzed and the dynamics model of joint space is established. An adaptive backstepping controller according to Lyapunov's function is proposed for leveling control of platform based on joint space. Furthermore, the “lowest point fixed angle error” leveling scheme called “chase” is chosen for leveling control of platform. The digital simulation and practical experiment of single joint space actuator are carried out, and the results show high precision servo control of joint space. On the basis of this, the platform leveling control simulation relies on the hardware-in-loop system. The results indicate that the proposed controller can effectively restrain the influence from system parameter uncertainties and external disturbance to realize high precision leveling control of the underwater platform.http://dx.doi.org/10.1155/2014/989717 |
| spellingShingle | Zhi-Lin Zeng Guo-Hua Xu Yin Zhao Fei Xie Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space Journal of Control Science and Engineering |
| title | Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space |
| title_full | Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space |
| title_fullStr | Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space |
| title_full_unstemmed | Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space |
| title_short | Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space |
| title_sort | adaptive backstepping controller design for leveling control of an underwater platform based on joint space |
| url | http://dx.doi.org/10.1155/2014/989717 |
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