Path following for a biomimetic underwater vehicle based on ADRC

	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	复杂系统认知与决策实验室_先进机器人
作者单位	1.Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences
第一作者单位	中国科学院自动化研究所
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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