2-DOF camera stabilization platform for robotic fish based on active disturbance rejection control | |
Pengfei Zhang2,3; Zhengxing Wu2,3; Jian Wang2,3; Min Tan2,3; Junzhi Yu1,3 | |
2020-04 | |
会议日期 | 2019-7 |
会议地点 | Suzhou, China |
英文摘要 | This paper proposes a novel 2-DOF stabilization platform for vision application of robotic fish to enhance the stability of image and reject the periodic disturbance from yaw and roll channels caused by fish’s swimming. The problem formulation and system framework of camera stabilization are first discussed. In order to achieve better control effect, forward and inverse kinematics of the 2-DOF gimbal are derived, which combine the feedback of IMU and target states to calculate controllers’ ideal input. Meanwhile, linear active disturbance rejection control (ADRC) without tracking differentiator is adopted in our system, on account of its superior performance to compensate uncertainties and disturbance. Finally, experimental results demonstrate that the error angle of ADRC is obviously smaller than PD and feedback-feedforward control. Furthermore, compared with 1-DOF stabilization platform, the 2-DOF one exhibits the overwhelming advantage about the enhancement of image stability. |
语种 | 英语 |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/48915] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
作者单位 | 1.Beijing Innovation Center for Engineering Science and Advanced Technology, Peking University 2.University of Chinese Academy of Sciences 3.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Pengfei Zhang,Zhengxing Wu,Jian Wang,et al. 2-DOF camera stabilization platform for robotic fish based on active disturbance rejection control[C]. 见:. Suzhou, China. 2019-7. |
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