Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin

doi:10.1007/s11432-019-2743-8

	Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin
	Liu, Jincun1 ; Liu, Zhenna 2; Yu, Junzhi1,3
发表期刊	SCIENCE CHINA-INFORMATION SCIENCES
ISSN	1674-733X
	2021
卷号	64 期号:1 页码:12
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
摘要	This paper investigates the three-dimensional (3-D) path following control problem for an under-actuated robotic dolphin. With a comprehensive consideration of the mechanical constraint and swimming principle of the robotic dolphin, a decoupling motion strategy is proposed to produce yaw and pitch maneuvers simultaneously. Then, kinematics and dynamics models for 3-D dolphin-like swimming are established, followed by simulations of the path following control. Furthermore, a novel lookahead based 3-D line-of-sight (LOS) guidance law is developed and implemented to obtain desired attitude angles with its simplicity, intuitiveness, and small computational footprint. Finally, simulation results illustrate the feasibility and effectiveness of the proposed path following control methods.
关键词	robotic dolphin path following 3-D LOS guidance law decoupling motion
DOI	10.1007/s11432-019-2743-8
关键词[WOS]	GUIDANCE
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61903007] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61633004] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61973007] ; National Natural Science Foundation of China[U1909206] ; Pre-research Fund of Equipment of China[61402070304] ; Key Research and Development and Transformation Project of Qinghai Province[2017-GX-103] ; Youth Innovation Science and Technology Plan of Shandong Province[2019KJN015]
项目资助者	National Natural Science Foundation of China ; Pre-research Fund of Equipment of China ; Key Research and Development and Transformation Project of Qinghai Province ; Youth Innovation Science and Technology Plan of Shandong Province
WOS研究方向	Computer Science ; Engineering
WOS类目	Computer Science, Information Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000678203500001
出版者	SCIENCE PRESS
引用统计	被引频次：4[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/173211/45585
专题	复杂系统管理与控制国家重点实验室
通讯作者	Yu, Junzhi
作者单位	1.Peking Univ, Dept Mech & Engn Sci, Coll Engn, State Key Lab Turbulence & Complex Syst,BIC ESAT, Beijing 100871, Peoples R China 2.Shandong Labor Vocat & Tech Coll, Dept Elect & Automat, Jinan 250022, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
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	Liu, Jincun,Liu, Zhenna,Yu, Junzhi. Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin[J]. SCIENCE CHINA-INFORMATION SCIENCES,2021,64(1):12.
APA	Liu, Jincun,Liu, Zhenna,&Yu, Junzhi.(2021).Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin.SCIENCE CHINA-INFORMATION SCIENCES,64(1),12.
MLA	Liu, Jincun,et al."Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin".SCIENCE CHINA-INFORMATION SCIENCES 64.1(2021):12.