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Inventi Impact: Control Science & Engineering

Articles

  • Inventi:ecse/70/14
    ADAPTIVE BACKSTEPPING CONTROLLER DESIGN FOR LEVELING CONTROL OF AN UNDERWATER PLATFORM BASED ON JOINT SPACE
    30-Jun-2014 Research 2014 : July - September
    Zhi-Lin Zeng, Guo-Hua Xu, Yin Zhao, Fei Xie

    This paper focuses on high precision leveling control of an underwater heavy load platform, which is viewed as an underwater\nparallel robot on the basis of its work pattern.The kinematic of platform with deformation is analyzed and the dynamics model\nof joint space is established. An adaptive backstepping controller according to Lyapunovââ?¬â?¢s function is proposed for leveling control\nof platform based on joint space. Furthermore, the ââ?¬Å?lowest point fixed angle errorââ?¬Â leveling scheme called ââ?¬Å?chaseââ?¬Â is chosen for\nleveling control of platform.The digital simulation and practical experiment of single joint space actuator are carried out, and the\nresults show high precision servo control of joint space. On the basis of this, the platform leveling control simulation relies on\nthe hardware-in-loop system. The results indicate that the proposed controller can effectively restrain the influence from system\nparameter uncertainties and external disturbance to realize high precision leveling control of the underwater platform.

    How to Cite this Article
    CC Compliant Citation: Zhi-Lin Zeng, Guo-Hua Xu, Yin Zhao, and\nFei Xie, â??Adaptive Backstepping Controller Design for Leveling\nControl of an Underwater Platform Based on Joint Space,â?\nJournal of Control Science and Engineering, vol. 2014, Article ID\n989717, 13 pages, 2014. doi:10.1155/2014/989717.\nCopyright © 2014 Zhi-Lin Zeng et al. This is an open access article distributed under the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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