CASIA OpenIR
A Paradigm for Path Following Control of a Ribbon-Fin Propelled Biomimetic Underwater Vehicle
Wang, Rui1,2; Wang, Shuo1,2; Wang, Yu1; Tan, Min1; Yu, Junzhi1
Source PublicationIEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
ISSN2168-2216
2019-03-01
Volume49Issue:3Pages:482-493
Corresponding AuthorWang, Shuo(shuo.wang@ia.ac.cn)
AbstractThis paper addresses the problem of path following for biomimetic underwater vehicles (BUVs) propelled by undulatory ribbon-fins. First, the general kinematics and dynamics models of underwater vehicles are presented, followed by a fuzzy logic model for dealing with a nonlinear relationship between the propulsive force/torque and the control parameters of the undulatory fins of the BUV. Then the path following problem of the BUV is formulated. A path following control paradigm integrating the line-of-sight guidance system with backstepping (BP) technique is proposed to maneuver the BUV to follow a predefined parameterized curve without time constraints. The stability of the BP controller is analyzed and guaranteed by Lyapunov stability theory. Finally, simulations and experimental results illustrate the performance of the proposed path following control paradigm.
KeywordTerms-Backstepping (BP) biomimetic underwater vehicle (BUV) line-of-sight (LOS) guidance path following ribbon-fin undulatory propulsion
DOI10.1109/TSMC.2017.2705340
WOS KeywordTRAJECTORY-TRACKING ; FISH
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61233014] ; National Natural Science Foundation of China[61333016] ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61421004] ; Beijing Natural Science Foundation[3141002]
Funding OrganizationNational Natural Science Foundation of China ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China ; Beijing Natural Science Foundation
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Cybernetics
WOS IDWOS:000458810400002
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:7[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/25039
Collection中国科学院自动化研究所
Corresponding AuthorWang, Shuo
Affiliation1.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
First Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Corresponding Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Wang, Rui,Wang, Shuo,Wang, Yu,et al. A Paradigm for Path Following Control of a Ribbon-Fin Propelled Biomimetic Underwater Vehicle[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2019,49(3):482-493.
APA Wang, Rui,Wang, Shuo,Wang, Yu,Tan, Min,&Yu, Junzhi.(2019).A Paradigm for Path Following Control of a Ribbon-Fin Propelled Biomimetic Underwater Vehicle.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,49(3),482-493.
MLA Wang, Rui,et al."A Paradigm for Path Following Control of a Ribbon-Fin Propelled Biomimetic Underwater Vehicle".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 49.3(2019):482-493.
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