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Journal of Control Science and Engineering
Volume 2014 (2014), Article ID 989717, 13 pages
http://dx.doi.org/10.1155/2014/989717
Research Article

Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space

School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China

Received 17 September 2013; Revised 4 February 2014; Accepted 5 February 2014; Published 24 March 2014

Academic Editor: Zoltan Szabo

Copyright © 2014 Zhi-Lin Zeng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

This paper focuses on high precision leveling control of an underwater heavy load platform, which is viewed as an underwater parallel robot on the basis of its work pattern. The kinematic of platform with deformation is analyzed and the dynamics model of joint space is established. An adaptive backstepping controller according to Lyapunov's function is proposed for leveling control of platform based on joint space. Furthermore, the “lowest point fixed angle error” leveling scheme called “chase” is chosen for leveling control of platform. The digital simulation and practical experiment of single joint space actuator are carried out, and the results show high precision servo control of joint space. On the basis of this, the platform leveling control simulation relies on the hardware-in-loop system. The results indicate that the proposed controller can effectively restrain the influence from system parameter uncertainties and external disturbance to realize high precision leveling control of the underwater platform.