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Abstract
Underwater camera platform’s low image stabilization accuracy and poor waterproofness seriously restrict the quality of photos. In order to better cope with underwater camera work, this paper proposes a cable-driven underwater camera stabilized platform. It is a mobile platform driven in parallel by four flexible cables. To improve image stabilization accuracy and anti-interference performance, the system’s dynamic model is established in a non-inertial reference frame. And the random water wave interference is modeled. Moreover, a novel double-loop integral-type global fast terminal sliding mode control strategy is designed. Lyapunov stability theory is used to analyze the stability of the strategy. Finally, by comparing with the existing global fast terminal sliding mode controller and traditional sliding mode controller, the designed controller is simulated and verified. The results show that the proposed control strategy not only has the advantages of fast response and robustness, but also has the characteristics of rapid convergence in a finite time and high accuracy. This method can provide a valuable reference for the development of underwater camera stabilized platforms.
Highlights
With the development of underwater scientific exploration, underwater photography has become an indispensable work [1]
The slicing method is used to obtain the interference torque of water waves acting on cable-driven underwater camera stabilized platform (CDUCSP) at different frequency points, and the interference torque of random water waves acting on end-effector can be obtained by the method of linear superposition [59]
To ensure highprecision tracking control of CDUCSP, we propose a novel DIGFTSMC control scheme
Summary
With the development of underwater scientific exploration, underwater photography has become an indispensable work [1]. Based on the above analysis, combined with the improved sliding mode surface and reaching law, a novel double-loop integral-type GFTSMC (DIGFTSMC) control strategy is proposed It consists of an attitude loop and an angular velocity loop, which are used to track the desired attitude and angular velocity of the CDUCSP, respectively.
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