In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane i...In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane in that it is actuated by two perpendicular thrusts in this plane. The advanced non-singular terminal sliding mode （NTSM） is implemented for the design of the path following controller, which can ensure the convergence of the motion system in finite time and improve its robustness against parametric uncertainties and environmental disturbances. In the process of controller design, the close-loop stability is considered and proved by Lyapunov＇ s stability theory. With the experimental data, numerical simulations are provided to verify the control law for path following of the deep-sea manned submersible.展开更多
This paper thoroughly studies a control system with control allocation for a manned submersible in deep sea being developed in China. The proposed control system consists of a neural-network-based direct adaptive cont...This paper thoroughly studies a control system with control allocation for a manned submersible in deep sea being developed in China. The proposed control system consists of a neural-network-based direct adaptive controller and a dynamic control allocation module. A control energy cost function is used as the optimization criteria of the control allocation module, and weighted pseudo-inverse is used to find the solution of the control allocation problem. In the presence of bounded unknown disturbance and neural networks approximation error, stability of the closed-loop control system of manned submersible is proved with Lyaponov theory. The feasibility and validity of the proposed control system is further verified through experiments conducted on a semi-physical simulation platform for the manned submersible in deep sea.展开更多
This paper describes a man-machine interface system using EOG and EMG. A manipulator control system using EOG and EMG is developed according to EOG and EMG. With the eye movement, the system enabled us to control a ma...This paper describes a man-machine interface system using EOG and EMG. A manipulator control system using EOG and EMG is developed according to EOG and EMG. With the eye movement, the system enabled us to control a manipulator. EOG is using for moving the robot joint angles and EMG is using for object grasping. The EOG and EMG discrimination method is used to control the robot. The robot arm joint movements are determined by the EOG discrimination method where the polarity of eye gaze motion signals in each Ch1 and Ch2. The EMG discrimination method is used to control arm gripper to grasp and release the target object. In the robot control experiment, we are successfully control the uArmTM robot by using both EOG and EMG discrimination method as the control input. This control system brings the feasibility of man-machine interface for elderly person and handicapped person.展开更多
基金The paper was financially supported by the National High Technology Research and Development Programof China(863 Program) (Grant No.2002AA401002)
文摘In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane in that it is actuated by two perpendicular thrusts in this plane. The advanced non-singular terminal sliding mode （NTSM） is implemented for the design of the path following controller, which can ensure the convergence of the motion system in finite time and improve its robustness against parametric uncertainties and environmental disturbances. In the process of controller design, the close-loop stability is considered and proved by Lyapunov＇ s stability theory. With the experimental data, numerical simulations are provided to verify the control law for path following of the deep-sea manned submersible.
基金This project is financially supported by the National High Technology Research Development Programof China(863Program)(Grant No.2002AA401003)
文摘This paper thoroughly studies a control system with control allocation for a manned submersible in deep sea being developed in China. The proposed control system consists of a neural-network-based direct adaptive controller and a dynamic control allocation module. A control energy cost function is used as the optimization criteria of the control allocation module, and weighted pseudo-inverse is used to find the solution of the control allocation problem. In the presence of bounded unknown disturbance and neural networks approximation error, stability of the closed-loop control system of manned submersible is proved with Lyaponov theory. The feasibility and validity of the proposed control system is further verified through experiments conducted on a semi-physical simulation platform for the manned submersible in deep sea.
文摘This paper describes a man-machine interface system using EOG and EMG. A manipulator control system using EOG and EMG is developed according to EOG and EMG. With the eye movement, the system enabled us to control a manipulator. EOG is using for moving the robot joint angles and EMG is using for object grasping. The EOG and EMG discrimination method is used to control the robot. The robot arm joint movements are determined by the EOG discrimination method where the polarity of eye gaze motion signals in each Ch1 and Ch2. The EMG discrimination method is used to control arm gripper to grasp and release the target object. In the robot control experiment, we are successfully control the uArmTM robot by using both EOG and EMG discrimination method as the control input. This control system brings the feasibility of man-machine interface for elderly person and handicapped person.
