Switching control for 3-D waypoint tracking of a biomimetic underwater vehicle

	Switching control for 3-D waypoint tracking of a biomimetic underwater vehicle
	Rui Wang; Yu Wang; Shuo Wang; Chong Tang; Min Tan
发表期刊	Switching Control for 3-D Waypoint Tracking of a Biomimetic Underwater Vehicle
	2018
卷号	28 期号:3 页码:255–262
摘要	This paper addresses the problem of three-dimensional (3-D) waypoint tracking for a biomimetic underwater vehicle (BUV) propelled by undulatory fins: RobCutt-II. Based on the specific mechanical design and control system configuration, the RobCutt-II can perform diversified locomotion patterns, especially submerging or surfacing vertically in the water. For practical underwater operating procedures, a selective switching control for 3-D waypoint tracking is proposed. This control scheme contains a depth controller, a waypoint tracking controller, and a selector. When tracking a series of given 3-D waypoints, the RobCutt-II can switch between two closed-loop locomotion patterns, i.e., the depth control pattern and the waypoint tracking pattern. Simulations and a comparative experimental study demonstrate the feasibility and effectiveness of the proposed switching control scheme.
关键词	Waypoint Tracking Biomimetic Underwater Vehicle
WOS记录号	WOS:000444808400005
引用统计	被引频次：6[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/21718
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Yu Wang; Shuo Wang
作者单位	State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Rui Wang,Yu Wang,Shuo Wang,et al. Switching control for 3-D waypoint tracking of a biomimetic underwater vehicle[J]. Switching Control for 3-D Waypoint Tracking of a Biomimetic Underwater Vehicle,2018,28(3):255–262.
APA	Rui Wang,Yu Wang,Shuo Wang,Chong Tang,&Min Tan.(2018).Switching control for 3-D waypoint tracking of a biomimetic underwater vehicle.Switching Control for 3-D Waypoint Tracking of a Biomimetic Underwater Vehicle,28(3),255–262.
MLA	Rui Wang,et al."Switching control for 3-D waypoint tracking of a biomimetic underwater vehicle".Switching Control for 3-D Waypoint Tracking of a Biomimetic Underwater Vehicle 28.3(2018):255–262.

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