Neural Network-Based Adaptive Sliding Mode Control Strategy for Underactuated RTAC

Tan, Panlong; Qin, Huayang; Sun, Mingwei; Sun, Qinglin; Chen, Zengqiang; Wang, Yongshuai

doi:10.1109/cac51589.2020.9327677

Cited by 1 publication

(1 citation statement)

References 15 publications

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“…The null space avoidance control framework was proposed to provide time‐invariant feedback stabilization for the underactuated system (Chu et al, 2020). The sliding mode control strategy was designed and presented based on neural network and active disturbance compensation, which combined the underactuated and actuated stales to transform the underactuated model to an actuated form (Panlong et al, 2020). However, the controller is designed for systems with low degrees of freedom and single control objectives.…”

Section: Introductionmentioning

confidence: 99%

Design and development of multirobot system for remote repair of nuclear pipe equipment

Li,

Ma,

Pan

et al. 2024

Journal of Field Robotics

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The extreme radiation environment in nuclear power plant leads to leakage of nuclear pipe equipment. It is important to repair the pipe equipment timely for nuclear safety. Manual repair on field incurs a health risk to worker. The use of robot for remote repair shows an excellent prospect. Therefore, the multirobot system (MRS) was developed and designed for field remote repair of nuclear reprocessing pipe equipment. The sensor modules and composite control strategy were developed for remote repair in the radiation environment. The remote repair of nuclear pipe equipment including both overall and partial repair has been achieved. The remote repair of the MRS is successfully performed on a full‐size stainless steel pipe model. The experimental results show that the MRS performed 63 processes with an overall time of 12,798 s, while the manual repair requires multiple people to spend many days to complete the repair. Moreover, the MRS achieves great repair quality and appearance. The MRS achieves excellent performance in remote repair of nuclear pipe equipment under extreme radiation conditions, demonstrating its capability for effective and safe operation.

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Section: Introductionmentioning

confidence: 99%