A stability control method for pitching motion in water of a pendulum type spherical robot

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Journal of Vibration and Shock ›› 2018, Vol. 37 ›› Issue (13) : 149-154.

LI Yansheng 1 YANG Meimei 1 SUN Hanxu2 LIU Zhimin 2 ZHANG Yi1

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Abstract

In a pendulum type spherical robot, its internal pitching pendulum and the central propeller mutually cooperate to realize its ascending and submersible motion in water. But the pitching pendulum’s frequent swing may cause the robot’s speed fluctuating and reduce the system’s stability. Aiming at the robot’s pitch-driven characteristics, a two-stage sliding mode method was proposed to simultaneously control the robot’s pitch angle and the pendulum’s swing angle, a RBF neural network was introduced to adaptively compensate interference terms. The controller designed was proved to be stable theoretically. The results of simulation and test showed that the proposed control method can realize the rapid control of the robot’s pitch angle, and can effectively suppress frequent swing of the pitching pendulum, so the stability of the robot’s motion in water is improved.

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spherical robot / unmanned underwater vehicle / adaptive control / sliding mode control

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LI Yansheng 1 YANG Meimei 1 SUN Hanxu2 LIU Zhimin 2 ZHANG Yi1. A stability control method for pitching motion in water of a pendulum type spherical robot[J]. Journal of Vibration and Shock, 2018, 37(13): 149-154

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