Paper Info
Title
Sliding Mode Observer-Based Heading Control for a Gliding Robotic Dolphin.
Abstract
This paper proposes a sliding mode observer (SMO)-based heading control method for the gliding motion of a dolphin-like gliding robot. A pair of flippers are employed to regulate gliding direction via differential actions, rather than actuators commonly used in traditional underwater gliders. The framework of the control algorithm is established based on a derived dynamic model, including an SMO, ...
Year
DOI
Venue
2017
10.1109/TIE.2017.2674606
IEEE Transactions on Industrial Electronics
Keywords
Field
DocType
Dolphins,Hydrodynamics,Robot kinematics,Oils,Bladder,Service robots
Control theory,Backstepping,Control theory,Robot kinematics,Attitude and heading reference system,Slip (aerodynamics),Control engineering,Engineering,Observer (quantum physics),Underwater robotics,Underwater glider
Journal
Volume
Issue
ISSN
64
8
0278-0046
Citations 
PageRank 
References 
5
0.58
20
Authors
4
Name
Order
Citations
PageRank
Jun Yuan1124.13
Zhengxing Wu28419.10
Junzhi Yu3851121.67
Min Tan42342201.12