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Citation:
 Yannan Gao,Hongzhang Jin and Shengbin Zhou.Application of a Zero-speed Fin Stabilizer for Roll Reduction of a Marine Robot near the Surface[J].Journal of Marine Science and Application,2012,(2):228-235.[doi:10.1007/s11804-012-1127-0]
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Application of a Zero-speed Fin Stabilizer for Roll Reduction of a Marine Robot near the Surface

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Title:
Application of a Zero-speed Fin Stabilizer for Roll Reduction of a Marine Robot near the Surface
Author(s):
Yannan Gao Hongzhang Jin and Shengbin Zhou
Affilations:
Author(s):
Yannan Gao Hongzhang Jin and Shengbin Zhou
1. College of Automation, Harbin Engineering University, Harbin 150001, China 2. College of Electrical and Technology, Heilongjiang Institute of Science and Technology, Harbin 150001, China 3. College of Mathematics, Harbin Normal University, Harbin 150001, China
Keywords:
zero-speed fin stabilizer roll reduction input-output linearization master-slave structure marine robot
分类号:
-
DOI:
10.1007/s11804-012-1127-0
Abstract:
A zero-speed fin stabilizer system was developed for rolling control of a marine robot. As a robot steering device near the sea surface with low speed, it will have rolling motion due to disturbance from waves. Based on the working principle of a zero-speed fin stabilizer and a marine robot’s dynamic properties, a roll damping controller was designed with a master-slave structure. It was composed of a sliding mode controller and an output tracking controller that calculates the desired righting moment and drives the zero-speed fin stabilizer. The methods of input-output linearization and model reference were used to realize the tracking control. Simulations were presented to demonstrate the validity of the control law proposed.

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Memo:
Supported by the National Natural Science Foundation under Grant No50879012
Last Update: 2012-06-07