CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A hybrid heading control scheme for a biomimetic underwater vehicle
Rui Wang; Shuo Wang; Yu Wang
2016-06-26
Conference NameInternational Ocean and Polar Engineering Conference
Conference Date2016.6.26—2016.7.1
Conference PlaceRhodes, Greece
Abstract
This paper addresses the novel design of a biomimetic underwater vehicle (BUV) propelled by undulatory fins and its heading control problems. Compared with traditional autonomous underwater vehicles (AUVs) propelled by screw propellers, the concept design enhances the maneuverability and stability of AUVs at low speed. The specific implementation of mechanical structure is elaborated. Moreover, a hybrid heading control which combines ADRC with fuzzy strategy is proposed to achieve accurate heading control for this BUV. In the end, experimental results demonstrate the feasibility and effectiveness of the mechanism and control system.
 
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21017
Collection复杂系统管理与控制国家重点实验室_先进机器人
AffiliationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Rui Wang,Shuo Wang,Yu Wang. A hybrid heading control scheme for a biomimetic underwater vehicle[C],2016.
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