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 | |
发表期刊 | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS |
ISSN | 2168-2216 |
2019-03-01 | |
卷号 | 49期号:3页码:482-493 |
摘要 | This 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. |
关键词 | Terms-Backstepping (BP) biomimetic underwater vehicle (BUV) line-of-sight (LOS) guidance path following ribbon-fin undulatory propulsion |
DOI | 10.1109/TSMC.2017.2705340 |
关键词[WOS] | TRAJECTORY-TRACKING ; FISH |
收录类别 | SCI |
语种 | 英语 |
资助项目 | Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[61233014] ; National Natural Science Foundation of China[61333016] ; Beijing Natural Science Foundation[3141002] ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[61233014] ; National Natural Science Foundation of China[61333016] ; Beijing Natural Science Foundation[3141002] |
WOS研究方向 | Automation & Control Systems ; Computer Science |
WOS类目 | Automation & Control Systems ; Computer Science, Cybernetics |
WOS记录号 | WOS:000458810400002 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/25039 |
专题 | 复杂系统管理与控制国家重点实验室 |
通讯作者 | Wang, Shuo |
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 |
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 | 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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