Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot  

作　　者：Jingge TANG Bin LI Jian CHANG Aiqun ZHANG 

机构地区：[1]State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China [2]Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China [3]University of Chinese Academy of Sciences,Beijing 100049,China

出　　处：《Science China(Information Sciences)》2020年第1期209-221,共13页中国科学（信息科学）（英文版）

基　　金：supported by National Key Research and Development Project of China (Grant No. 2017YFB1300101)

摘　　要：With its strong endurance and high maneuverability, an underwater gliding snake-like robot(UGSR) is a strong potential candidate for aquatic exploration and monitoring. The major feature of the UGSR, which distinguishes it from other snake-like robots, is long range and long operation duration by gliding. This study establishes a gliding motion control system for the UGSR based on a sliding mode controller(SMC). The control system stabilizes the system and suppresses the uncertainties and unknown disturbances. In this strategy, chattering is reduced based on the reaching law method. To circumvent the difficulty of velocity measurements, a nonlinear observer based on an unscented Kalman filter(UKF) is employed for state estimation and random noise handling. The effectiveness of the proposed controller and observer is verified by simulating the UKF-based SMC closed-loop system.With its strong endurance and high maneuverability, an underwater gliding snake-like robot(UGSR) is a strong potential candidate for aquatic exploration and monitoring. The major feature of the UGSR, which distinguishes it from other snake-like robots, is long range and long operation duration by gliding. This study establishes a gliding motion control system for the UGSR based on a sliding mode controller(SMC). The control system stabilizes the system and suppresses the uncertainties and unknown disturbances. In this strategy, chattering is reduced based on the reaching law method. To circumvent the difficulty of velocity measurements, a nonlinear observer based on an unscented Kalman filter(UKF) is employed for state estimation and random noise handling. The effectiveness of the proposed controller and observer is verified by simulating the UKF-based SMC closed-loop system.

关 键 词：underwater gliding snake-like robot sliding mode control reaching law nonlinear observer unscented Kalman filter ROBUSTNESS 

分 类 号：TN713[电子电信—电路与系统] TP242[自动化与计算机技术—检测技术与自动化装置]