CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Path following for a biomimetic underwater vehicle based on ADRC
Wang, Rui1,2; Wang, Shuo1; Wang, Yu1; Tang, Chong1,2
2017
Conference Name2017 IEEE International Conference on Robotics and Automation (ICRA)
Conference DateMay 29 - June 3, 2017
Conference PlaceSingapore
AbstractThis paper addresses the problem of path following
for a biomimetic underwater vehicle (BUV) propelled
by undulatory fins with uncertain model and unknown disturbance.
The mechanical structure of the BUV is briefly
described. Moreover, the general kinematics and dynamics
models of the vehicle are presented and the path following
problem is formulated. The controller combining line-of-sight
(LOS) guidance system with active disturbance rejection control
(ADRC) technique is designed to maneuver the BUV to follow
a predefined parameterized curve. Specifically, a guidance
system based on LOS principle is implemented to decouple
the multi-variable system to steer the surge speed and the
course respectively. Furthermore, in order to deal with model
uncertainty, ADRC is used in development of the surge speed
controller and the course controller. Finally, simulations and
experimental results validated the performance of the proposed
path following control scheme.
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/20020
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Institute of Automation, Chinese Academy of Sciences
2.University of Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Wang, Rui,Wang, Shuo,Wang, Yu,et al. Path following for a biomimetic underwater vehicle based on ADRC[C],2017.
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