Modeling and Three-Layer Adaptive Diving Control of a Cable-Driven Underwater Parallel Platform

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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Bibliographic Details
Main Authors: Yingkai Xia, Kan Xu, Ye Li, Guohua Xu, Xianbo Xiang
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Cable-driven underwater parallel platform
modeling
three-layer adaptive diving control strategy
improved relative coupling synchronous control
ARBFNN-BSMC
experiment
Online Access:https://ieeexplore.ieee.org/document/8329962/

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