Modeling and Three-Layer Adaptive Diving Control of a Cable-Driven Underwater Parallel Platform
This paper focuses on the modeling, diving controller design, and experiment of a special cable-driven underwater parallel platform with eight-cable coupling drive structure. Kinematic and dynamic models of the platform are established utilizing a simplified approach, and the hydraulic driven contro...
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doaj-d1d0c2f524404c559bf89c2d724f3be22021-03-29T20:43:43ZengIEEEIEEE Access2169-35362018-01-016240162403410.1109/ACCESS.2018.28227748329962Modeling and Three-Layer Adaptive Diving Control of a Cable-Driven Underwater Parallel PlatformYingkai Xia0Kan Xu1Ye Li2https://orcid.org/0000-0002-8102-1959Guohua Xu3Xianbo Xiang4School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, ChinaWuhan Second Ship Design and Research Institute, Wuhan, ChinaSchool of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, ChinaSchool of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, ChinaThis paper focuses on the modeling, diving controller design, and experiment of a special cable-driven underwater parallel platform with eight-cable coupling drive structure. Kinematic and dynamic models of the platform are established utilizing a simplified approach, and the hydraulic driven control model is derived based on joint-space method. To improve the diving control precision and system robustness despite the complex dynamic behaviors and manifold unknown disturbances, a three-layer adaptive diving control strategy is proposed. Among the three control layers, layer 1 is responsible for dive planning and online monitoring, layer 2 places emphasis on synchronous control by employing an improved relative coupling strategy, layer 3 utilizes an adaptive radial basis function neural network-based backstepping sliding mode control algorithm (ARBFNN-BSMC) to achieve high precision speed control of the single driving branch. Hardware-in-the-loop simulations and experimental results illustrate that the proposed three-layer adaptive diving control strategy can asymptotically drive the cable-driven underwater parallel platform onto a predefined diving trajectory with favorable precision, robustness, and stability.https://ieeexplore.ieee.org/document/8329962/Cable-driven underwater parallel platformmodelingthree-layer adaptive diving control strategyimproved relative coupling synchronous controlARBFNN-BSMCexperiment |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Yingkai Xia Kan Xu Ye Li Guohua Xu Xianbo Xiang |
spellingShingle |
Yingkai Xia Kan Xu Ye Li Guohua Xu Xianbo Xiang Modeling and Three-Layer Adaptive Diving Control of a Cable-Driven Underwater Parallel Platform IEEE Access Cable-driven underwater parallel platform modeling three-layer adaptive diving control strategy improved relative coupling synchronous control ARBFNN-BSMC experiment |
author_facet |
Yingkai Xia Kan Xu Ye Li Guohua Xu Xianbo Xiang |
author_sort |
Yingkai Xia |
title |
Modeling and Three-Layer Adaptive Diving Control of a Cable-Driven Underwater Parallel Platform |
title_short |
Modeling and Three-Layer Adaptive Diving Control of a Cable-Driven Underwater Parallel Platform |
title_full |
Modeling and Three-Layer Adaptive Diving Control of a Cable-Driven Underwater Parallel Platform |
title_fullStr |
Modeling and Three-Layer Adaptive Diving Control of a Cable-Driven Underwater Parallel Platform |
title_full_unstemmed |
Modeling and Three-Layer Adaptive Diving Control of a Cable-Driven Underwater Parallel Platform |
title_sort |
modeling and three-layer adaptive diving control of a cable-driven underwater parallel platform |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2018-01-01 |
description |
This paper focuses on the modeling, diving controller design, and experiment of a special cable-driven underwater parallel platform with eight-cable coupling drive structure. Kinematic and dynamic models of the platform are established utilizing a simplified approach, and the hydraulic driven control model is derived based on joint-space method. To improve the diving control precision and system robustness despite the complex dynamic behaviors and manifold unknown disturbances, a three-layer adaptive diving control strategy is proposed. Among the three control layers, layer 1 is responsible for dive planning and online monitoring, layer 2 places emphasis on synchronous control by employing an improved relative coupling strategy, layer 3 utilizes an adaptive radial basis function neural network-based backstepping sliding mode control algorithm (ARBFNN-BSMC) to achieve high precision speed control of the single driving branch. Hardware-in-the-loop simulations and experimental results illustrate that the proposed three-layer adaptive diving control strategy can asymptotically drive the cable-driven underwater parallel platform onto a predefined diving trajectory with favorable precision, robustness, and stability. |
topic |
Cable-driven underwater parallel platform modeling three-layer adaptive diving control strategy improved relative coupling synchronous control ARBFNN-BSMC experiment |
url |
https://ieeexplore.ieee.org/document/8329962/ |
work_keys_str_mv |
AT yingkaixia modelingandthreelayeradaptivedivingcontrolofacabledrivenunderwaterparallelplatform AT kanxu modelingandthreelayeradaptivedivingcontrolofacabledrivenunderwaterparallelplatform AT yeli modelingandthreelayeradaptivedivingcontrolofacabledrivenunderwaterparallelplatform AT guohuaxu modelingandthreelayeradaptivedivingcontrolofacabledrivenunderwaterparallelplatform AT xianboxiang modelingandthreelayeradaptivedivingcontrolofacabledrivenunderwaterparallelplatform |
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1724194296292179968 |