Knowledge Commons of Institute of Automation,CAS
Way-point tracking control for a biomimetic underwater vehicle based on backstepping | |
Rui Wang; Shuo Wang; Yu Wang; Qingping Wei | |
2016-07-27 | |
会议名称 | Chinese Control Conference |
会议日期 | 2016.7.27—2016.7.29 |
会议地点 | Chengdu, China |
摘要 |
In this paper, a new approach of way-point tracking control is investigated for a biomimetic underwater vehicle (BUV) propelled by undulatory fins. First, the system design and the model of the BUV are presented. Compared with traditional autonomous underwater vehicles (AUVs) propelled by screw propellers, the concept design enhances the maneuverability and stability of AUVs at low speed. Then the way-point tracking problem of the BUV is formulated. Moreover, a way-point tracking control scheme combining a guidance system of low complexity with backstepping technique is proposed to achieve fast and effective convergence to the desired path composed of a series of given way-points for this BUV. In the end, simulations demonstrate the performance of the proposed way-point tracking controller.
|
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/21019 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | Institute of Automation, 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 | Rui Wang,Shuo Wang,Yu Wang,et al. Way-point tracking control for a biomimetic underwater vehicle based on backstepping[C],2016. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
1066.pdf(540KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论