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Switching control for 3-D waypoint tracking of a biomimetic underwater vehicle
Rui Wang; Yu Wang; Shuo Wang; Chong Tang; Min Tan
Source PublicationSwitching Control for 3-D Waypoint Tracking of a Biomimetic Underwater Vehicle
2018
Volume28Issue:3Pages:255–262
AbstractThis 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.
KeywordWaypoint Tracking Biomimetic Underwater Vehicle
WOS IDWOS:000444808400005
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21718
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu Wang; Shuo Wang
AffiliationState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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