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The research on the underwater vehicle-manipulator system (UVMS) propelled by undulatory fins aims to lay theoretical and technical foundations for design and control of a new generation of underwater robots with low noise, environmental friendliness, high motion stability, and high anti-disturbance performance. This thesis focuses on the modular system design, basic motion control, path following control and hovering control for an UVMS propelled by undulatory fins. The main contents of this thesis are as follows.
Firstly, mimicking the undulatory propulsion mode of knifefish, a biomimetic underwater propulsor with an undulatory fin is developed. Based on the kinematics analysis of the undulatory fin, a driver system is developed to achieve the motion control of the undulatory fin. The underwater propulsor has independent power supply and control components, allowing it to be installed as a standard propulsion module on underwater robotic platforms. The effectiveness of the system design is validated by undulatory fin control experiments and swimming experiments.
Secondly, we address the basic motion control problems for an UVMS propelled by undulatory fins. Based on modular underwater propulsors, an UVMS propelled by undulatory fins is fabricated. Then the system models of the UVMS are built. Multiple motion patterns such as marching, receding, turning, submerging and surfacing are achieved. Besides, heading and depth control experiments are performed. Experimental results show that the UVMS propelled by undulatory fins has good mobility.
Thirdly, in order to solve the problem of planar path following control for the UVMS propelled by undulatory fins, a backstepping-based path following control method is proposed. A line-of-sight guidance system is implemented to deduce the foresight point, followed by the establishment of the tracking error differential equation. A backstepping controller is design to output required propulsive force and torque. The stability of the backstepping controller is analyzed and guaranteed by the Lyapunov stability theory. Simulations and experimental results illustrate the performance of the proposed path following control method.
Fourthly, 3-D helical path planning and path following of the UVMS propelled by undulatory fins are studied. A path planner is designed to provide a 3-D helical path according to the target position and the specific constraint conditions. Furthermore, a path following coordination controller coordinates the reference speed, heading and depth according to current position and heading of the UVMS and the planned path. Three active disturbance rejection controllers are designed to force the UVMS to track the reference speed, heading, and depth, respectively. Experiments are given to show the validity of the proposed method.
Finally, aiming at the autonomous hovering control for the UVMS propelled by undulatory fins, a vision-based hovering control method is proposed. The target position and actual visual feature are obtained by binocular vision image processing. A hovering controller is proposed to map the visual feature error and distance error to the desired velocity based on image Jacobian. Furthermore, a tracking differentiator is used to output the velocity estimation of the UVMS. A velocity controller is designed so that the UVMS could reach the desired velocity. Simulations and experimental results demonstrate the validity of the proposed hovering control method.
Keyword水下作业机器人 波动推进 运动控制 路径规划 路径跟踪控制 悬停控制
Document Type学位论文
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
王睿. 波动鳍推进水下作业机器人运动控制方法研究[D]. 北京. 中国科学院大学,2018.
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