scholarly journals Motion control research of underwater spherical robot

2018 ◽  
Vol 6 (1) ◽  
pp. 430-437
Author(s):  
Peilong Li ◽  
Lei Wang ◽  
Wenwen Zhang
Keyword(s):  
Motion Control ◽  
Spherical Robot ◽  
Control Research

Active disturbance rejection motion control of spherical robot with parameter tuning

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Manlu Liu ◽  
Rui Lin ◽  
Maotao Yang ◽  
Anaid V. Nazarova ◽  
Jianwen Huo
Keyword(s):  
Motion Control ◽  
Disturbance Rejection ◽  
Parameter Tuning ◽  
Pso Algorithm ◽  
State Equation ◽  
Expected Value ◽  
Spherical Robot ◽  
Motion Controller ◽  
Actual Case ◽  
Content Type

Purpose The characteristics of spherical robots, such as under-drive, non-holonomic constraints and strong coupling, make it difficult to establish its motion control model accurately. To improve the anti-interference performance of spherical robots in practical engineering, this paper proposes a spherical robot motion controller based on auto-disturbance rejection control (ADRC) with parameter tuning. Design/methodology/approach This paper considers the influences of the spherical shell, internal frame and pendulum on the movement of the spherical robot during the rotation to establish the multi-body dynamics model of the XK-I spherical robot. Due to the serious coupling problem of the dynamic model, the motion control state equation is constructed using linearization and decoupling. The XK-I spherical robot PSO-ADRC motion controller with parameter tuning function is designed by combining the state equation with the particle swarm optimization (PSO) algorithm. Finally, experiments are performed to evaluate the feasibility of PSO-ADRC in an actual case compared to ADRC, PSO-PID and PID. Findings By analyzing the required time to reach the expected value, the control stability and the fluctuation range of the standard deviation after reaching the expected value, the superiority of PSO-ADRC to ADRC, PSO-PID and PID is demonstrated in terms of the speed and anti-interference ability. Practical implications The proposed method can be applied to the robot control field. Originality/value A parameter-tuning method for auto-disturbance-rejection motion control of the spherical robot is proposed. According to the experimental results, the anti-interference ability of the spherical robot moving on uneven ground is improved. Therefore, it provides a foundation for the autonomous environmental monitoring of the spherical robot equipped with sensors.

Dynamic modelling and motion control research on deep seabed miner

2020 ◽  
pp. 1-9
Author(s):  
Yu Dai ◽  
Xuyang Li ◽  
Wanwu Yin ◽  
Liping Pang ◽  
Ya Xie ◽  
...  
Keyword(s):  
Motion Control ◽  
Dynamic Modelling ◽  
Control Research

Research on modeling and motion control of a pendulous spherical robot

2021 ◽  
Author(s):  
Rui Lin ◽  
Manlu Liu ◽  
Jianwen Huo ◽  
Hua Zhang ◽  
Maotao Yang ◽  
...  
Keyword(s):  
Motion Control ◽  
Spherical Robot

scholarly journals Hydrodynamic Analysis-Based Modeling and Experimental Verification of a New Water-Jet Thruster for an Amphibious Spherical Robot

Sensors ◽  
2019 ◽  
Vol 19 (2) ◽  
pp. 259 ◽  
Author(s):  
Xihuan Hou ◽  
Shuxiang Guo ◽  
Liwei Shi ◽  
Huiming Xing ◽  
Yu Liu ◽  
...  
Keyword(s):  
Motion Control ◽  
Axial Flow ◽  
Maximum Error ◽  
Water Jet ◽  
Experimental Results ◽  
Hydrodynamic Characteristics ◽  
Spherical Robot ◽  
Basic Framework ◽  
Oblique Flow ◽  
Simulation Results

Thrusters are the bottom actuators of the amphibious spherical robot, and play an important role in the motion control of these robots. To realize accurate motion control, a thrust model for a new water-jet thruster based on hydrodynamic analyses is proposed in this paper. First, the hydrodynamic characteristics of the new thruster were numerically analyzed using computational fluid dynamics (CFD) commercial software CFX. The moving reference frame (MRF) technique was utilized to simulate propeller rotation. In particular, the hydrodynamics of the thruster were studied not only in the axial flow but also in oblique flow. Then, the basic framework of the thrust model was built according to hydromechanics theory. Parameters in the basic framework were identified through the results of the hydrodynamic simulation. Finally, a series of relevant experiments were conducted to verify the accuracy of the thrust model. These proved that the thrust model-based simulation results agreed well with the experimental results. The maximum error between the experimental results and simulation results was only 7%, which indicates that the thrust model is precise enough to be utilized in the motion control of amphibious spherical robots.

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