Path following for a biomimetic underwater vehicle based on ADRC
Wang, Rui1,2; Wang, Shuo1; Wang, Yu1; Tang, Chong1,2
2017
会议名称2017 IEEE International Conference on Robotics and Automation (ICRA)
会议日期May 29 - June 3, 2017
会议地点Singapore
摘要This 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.
收录类别EI
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/20020
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Institute of Automation, Chinese Academy of Sciences
2.University of Chinese Academy of Sciences
推荐引用方式
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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