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Integrated Tracking Control of an Underwater Bionic Robot Based on Multimodal Motions | |
Wang, Jian1,2![]() ![]() ![]() ![]() ![]() ![]() | |
发表期刊 | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
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ISSN | 2168-2216 |
2024-03-01 | |
卷号 | 54期号:3页码:1599-1610 |
摘要 | As a key technology for autonomous underwater operations, precise tracking control in tight space environments is a great challenge. With the aid of high maneuverability of the underwater bionic robot, this article proposes an integrated tracking control framework for a robotic dolphin to move through narrow areas, including top-level planning, middle-level tracking, and bottom-level control allocation. First, a nonlinear model predictive control-based planning method is presented with full consideration of tracking accuracy and obstacle avoidance safety. Second, in order to improve the anti-interference ability, we derive a nonlinear path tracking control law by combining the backstepping technique with a nonlinear disturbance observer. More importantly, through hydrodynamic analysis of the bionic multimodal motions under flippers and flukes, a fuzzy-based nonlinear control allocation system is particularly adopted to convert calculated control forces into bionic motion parameters. Finally, extensive simulations and aquatic experiments are conducted, and the obtained results validate the effectiveness of proposed methods, providing a new idea to further ocean exploration. |
关键词 | Disturbance observer (DOB) fuzzy system model predictive control (MPC) tracking control underwater bionic robot |
DOI | 10.1109/TSMC.2023.3328010 |
关键词[WOS] | TRAJECTORY TRACKING ; OBSTACLE AVOIDANCE ; MPC |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China |
项目资助者 | National Natural Science Foundation of China |
WOS研究方向 | Automation & Control Systems ; Computer Science |
WOS类目 | Automation & Control Systems ; Computer Science, Cybernetics |
WOS记录号 | WOS:001165495200001 |
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/173211/55647 |
专题 | 复杂系统认知与决策实验室_水下机器人 |
通讯作者 | Yu, Junzhi |
作者单位 | 1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, 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, Jian,Wu, Zhengxing,Zhang, Yang,et al. Integrated Tracking Control of an Underwater Bionic Robot Based on Multimodal Motions[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2024,54(3):1599-1610. |
APA | Wang, Jian,Wu, Zhengxing,Zhang, Yang,Kong, Shihan,Tan, Min,&Yu, Junzhi.(2024).Integrated Tracking Control of an Underwater Bionic Robot Based on Multimodal Motions.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,54(3),1599-1610. |
MLA | Wang, Jian,et al."Integrated Tracking Control of an Underwater Bionic Robot Based on Multimodal Motions".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 54.3(2024):1599-1610. |
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2023-一作-王健TSMCA.pdf(5090KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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