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Model Predictive Trajectory Tracking Control of an Underactuated Bionic Underwater Vehicle | |
Wang, Kaihui1![]() ![]() ![]() ![]() ![]() | |
发表期刊 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
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ISSN | 1083-4435 |
2023-09-26 | |
页码 | 12 |
摘要 | This article presents a study on trajectory tracking control for an underactuated bionic underwater vehicle that is propelled by undulating fins. The vehicle's propulsion mechanism is inspired by marine organisms, and its working principle is briefly introduced. Accurate trajectory tracking control is challenging due to the coupling of fin motions and the lack of control degree of freedom. The multi-input and multi-output characteristics of the tracking control task, coupled with the existence of system constraints, impose high requirements for the controller. To solve these problems, a novel dynamics model-based predictive control strategy is proposed and the control output at the dynamics level is obtained. To stabilize the underactuated dynamics, a practical sidesway compensator is designed and integrated into the control framework. The convergence of the approach is guaranteed. Real-time precise tracking control is realized. Extensive simulations and real-world experiments are carried out and compared with other control methods. Reliability and superiority of the proposed approach is demonstrated with up to an 80% reduction in trajectory tracking sidesway errors. |
关键词 | Bionic underwater vehicle (BUV) model predictive control (MPC) trajectory tracking undulatory propulsion |
DOI | 10.1109/TMECH.2023.3312562 |
关键词[WOS] | STABILITY |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Key Research and Development Program of China[2021ZD0114505] ; National Key Research and Development Program of China[2018YFB1306303] ; Beijing Natural Science Foundation[4222055] ; National Natural Science Foundation of China[61773374] ; National Natural Science Foundation of China[61702323] ; National Natural Science Foundation of China[62073316] ; National Natural Science Foundation of China[62122087] ; Major Basic Research Projects of Natural Science Foundation of Shandong Province[ZR2019ZD07] ; Scientific Research Program of Beijing Municipal Commission of Education -Natural Science Foundation of Beijing[KZ202210017024] |
项目资助者 | National Key Research and Development Program of China ; Beijing Natural Science Foundation ; National Natural Science Foundation of China ; Major Basic Research Projects of Natural Science Foundation of Shandong Province ; Scientific Research Program of Beijing Municipal Commission of Education -Natural Science Foundation of Beijing |
WOS研究方向 | Automation & Control Systems ; Engineering |
WOS类目 | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
WOS记录号 | WOS:001078392800001 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/53075 |
专题 | 多模态人工智能系统全国重点实验室 |
通讯作者 | Wang, Yu; Su, Hu |
作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, 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 | Wang, Kaihui,Zou, Wei,Ma, Ruichen,et al. Model Predictive Trajectory Tracking Control of an Underactuated Bionic Underwater Vehicle[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:12. |
APA | Wang, Kaihui,Zou, Wei,Ma, Ruichen,Wang, Yu,&Su, Hu.(2023).Model Predictive Trajectory Tracking Control of an Underactuated Bionic Underwater Vehicle.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12. |
MLA | Wang, Kaihui,et al."Model Predictive Trajectory Tracking Control of an Underactuated Bionic Underwater Vehicle".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):12. |
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