Robust Depth and Heading Control System for a Novel Robotic Dolphin With Multiple Control Surfaces

doi:10.1109/TASE.2024.3380394

	Robust Depth and Heading Control System for a Novel Robotic Dolphin With Multiple Control Surfaces
	Li, Sijie 1,2; Wu, Zhengxing1,2 ; Wang, Jian1,2 ; Qiu, Changlin1,2 ; Tan, Min1,2 ; Yu, Junzhi3
发表期刊	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
ISSN	1545-5955
	2024-03-26
页码	16
通讯作者	Wu, Zhengxing(zhengxing.wu@ia.ac.cn)
摘要	For field tasks, it is quite challenged to operate in a complex environment for the underwater robots, especially for those with multiple control surfaces due to different response and gain characteristics. To this end, this paper develops a highly integrated robotic dolphin followed by a robust motion control system. For better maneuverability and fault-tolerant capabilities, a newly-designed robotic dolphin is presented, owning a wide array of sensors and multiple control surfaces, in which passive flukes are particularly applied. On this basis, a robust motion control system is proposed, including a depth controller based on velocity-related allocation strategies and a heading controller based on clearance compensation. In detail, considering the degradation of motion performance caused by passive flukes, a sliding mode controller for gain uncertainty and an allocation-related parameter tuning strategy for inputs response characteristics are designed. Extensive simulations and aquatic experiments are conducted, and the obtained results demonstrate the satisfied maneuverability of the designed prototype and the effectiveness of the proposed methods. This study can lay a foundation for further development of robotic dolphins with a robust motion system to execute complex tasks in the field. Note to Practitioners-This paper is inspired by the issue of robust motion control system for a newly-designed practical robotic dolphin that possesses a passive tail and redundant control surfaces. The traditional methods are usually susceptible to uncertainties in the passive tail gain, exhibiting degraded control performance. Moreover, control oscillations and slow convergence speed often occur caused by neglecting the characteristics of different control surfaces, including response patterns and clearance. This paper suggests a robust depth controller based on velocity-related allocation strategies and a robust heading controller based on clearance compensation. Specifically, an allocation-related parameter tuning strategy is given by considering inputs response characteristics, including response speed, saturations, and hydrodynamic force variation patterns. To guarantee fine regulations of heading control, a nonlinear disturbance observer (NDOB)-based clearance compensation is proposed. Extensive aquatic experiments on the newly-designed robotic dolphin verified the effectiveness of the proposed methods. It is envisioned that all these presented results can provide valuable engineering practice insights for industry practitioners.
关键词	Robotic dolphin depth control heading control allocation strategy clearance compensation
DOI	10.1109/TASE.2024.3380394
关键词[WOS]	MOTION CONTROL ; GUIDANCE ; DESIGN ; FISH
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems
WOS类目	Automation & Control Systems
WOS记录号	WOS:001193659000001
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/173211/57000
专题	复杂系统认知与决策实验室
通讯作者	Wu, Zhengxing
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Lab Cognit & Decis Intelligence Complex Syst, Inst Automat, Beijing 100190, Peoples R China 3.Peking Univ, Dept Adv Mfg & Robot, Coll Engn, State Key Lab Turbulence & Complex Syst,BIC ESAT, Beijing 100871, Peoples R China
推荐引用方式 GB/T 7714	Li, Sijie,Wu, Zhengxing,Wang, Jian,et al. Robust Depth and Heading Control System for a Novel Robotic Dolphin With Multiple Control Surfaces[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2024:16.
APA	Li, Sijie,Wu, Zhengxing,Wang, Jian,Qiu, Changlin,Tan, Min,&Yu, Junzhi.(2024).Robust Depth and Heading Control System for a Novel Robotic Dolphin With Multiple Control Surfaces.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,16.
MLA	Li, Sijie,et al."Robust Depth and Heading Control System for a Novel Robotic Dolphin With Multiple Control Surfaces".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2024):16.