复杂系统管理与控制国家重点实验室知识库

This article presents the design of a biomimetic underwater vehicle-manipulator system (BUVMS) with bioinspired long-fin propulsion and its control methods. The kinematic analysis of bioinspired long-fin propulsion is conducted, and the maximum thrust of this propulsion derived from our thrust measurement platform can be up to 25 N. Bioinspired long-fin propulsion is introduced to construct the BUVMS for inspection and manipulation tasks, and the system architecture of the BUVMS is described. Moreover, real-time dynamic dubins-helix path planning and tracking of the biomimetic vehicle are proposed to realize the arrival of the desired pose. The tracking error is less than 0.23 body length. Finally, coordinated control between the biomimetic vehicle and the manipulator is developed to achieve autonomous manipulation. The reaction of the manipulator served as feedforward compensation is added into the closed-loop control of the biomimetic vehicle. The experimental results are provided to illustrate the validity of the proposed methods.