Adaptive backstepping controller design for leveling control of an underwater platform based on joint space

DOI10.1155/2014/989717MaRDI QIDQ2249338zbMATH OpenOpenAlexWikidataFDO

Authors Zhi-Lin Zeng, Guohua Xu, Yin Zhao, Fei Xie

Publication date 1 July 2014

Published in Journal of Control Science and Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 3.0 Unported

Full work available at URL https://doi.org/10.1155/2014/989717

zbMATH Keywords

adaptive backstepping controllerparameter uncertainties and external disturbanceunderwater platform

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: 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.

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Cites work

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• Robust controller design of a class of nonlinear time delay systems via backstepping method
• Stabilization of an underactuated surface vessel based on adaptive sliding mode and backstepping control

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