Three-Dimensional Helical Path Following of an Underwater Biomimetic Vehicle-Manipulator System
Wang, Rui1,2; Wang, Shuo1,2; Wang, Yu1; Tang, Chong1,2; Tan, Min1
2018-04-01
发表期刊IEEE JOURNAL OF OCEANIC ENGINEERING
卷号43期号:2页码:391-401
文章类型Article
摘要This paper aims to investigate the method of 3D helical path following of an underwater biomimetic vehicle-manipulator system (UBVMS) propelled by undulatory fins (RobCutt-II). By mimicking the unique undulatory propulsion mode of cuttlefish, we hope that RobCutt-II could obtain good low-speed stability, which helps to perform stable and effective underwater operations. For some underwater applications, the UBVMS should autonomously generate and pass through a helical path around specific object for survey and intervention. Therefore, a path-following control scheme is proposed. In particular, the path generator provides a 3-D helical path according to the target position and the specific constraint conditions. To follow the generated path in underwater space, the control architecture, which consists of a guidance system, three active disturbance rejection control (ADRC) subcontrollers, and fuzzy method for control allocation, is proposed. Finally, two experiments conducted on the prototype RobCutt-II illustrate the effectiveness of the proposed control scheme.
关键词Active Disturbance Rejection Control (Adrc) Guidance System 3-d Helical Path Following Underwater Biomimetic Vehicle-manipulator System (Ubvms) Undulatory Propulsion
WOS标题词Science & Technology ; Technology ; Physical Sciences
DOI10.1109/JOE.2017.2762498
关键词[WOS]TRAJECTORY-TRACKING ; UNDERACTUATED SHIPS ; ELECTRIC FISH ; COMMUNICATION ; ROBOTS ; DEPTH
收录类别SCI ; ISTP
语种英语
项目资助者National Natural Science Foundation of China(61773378 ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China(61421004) ; 61703401 ; 61233014 ; 61333016)
WOS研究方向Engineering ; Oceanography
WOS类目Engineering, Civil ; Engineering, Ocean ; Engineering, Electrical & Electronic ; Oceanography
WOS记录号WOS:000429957500009
引用统计
被引频次:2[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/173211/22019
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
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Wang, Rui,Wang, Shuo,Wang, Yu,et al. Three-Dimensional Helical Path Following of an Underwater Biomimetic Vehicle-Manipulator System[J]. IEEE JOURNAL OF OCEANIC ENGINEERING,2018,43(2):391-401.
APA Wang, Rui,Wang, Shuo,Wang, Yu,Tang, Chong,&Tan, Min.(2018).Three-Dimensional Helical Path Following of an Underwater Biomimetic Vehicle-Manipulator System.IEEE JOURNAL OF OCEANIC ENGINEERING,43(2),391-401.
MLA Wang, Rui,et al."Three-Dimensional Helical Path Following of an Underwater Biomimetic Vehicle-Manipulator System".IEEE JOURNAL OF OCEANIC ENGINEERING 43.2(2018):391-401.
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