Course and Depth Control for a Biomimetic Underwater Vehicle - RobCutt-I
Wei, Qingping; Wang, Shuo; Wang, Yu; Zhou, Chao; Tan, Min
2015-06-01
发表期刊INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING
卷号25期号:2页码:81-87
文章类型Article
摘要This paper presents the design and fabrication of a new type of Biomimetic Underwater Vehicle (BUV) inspired by cuttlefish: the RobCutt-I. The Rob Cutt-I has good maneuverability and can perform multiple motion modes, especially submerging or surfacing vertically in the water. A course controller and a depth controller for the RobCutt-I were proposed based on the Active Disturbance Rejection Control (ADRC) technique. Experiments conducted on the RobCutt-I prototype validated the feasibility and effectiveness of the mechanism and control system. Simulations and experiments conducted on the Rob Cutt-I prototype showed that both the course controller and depth controller give better performance than the PID controller.
关键词Biomimetic Underwater Vehicle (Buv) Undulating Fin Active Disturbance Rejection Control (Adrc) Course Control Depth Control
WOS标题词Science & Technology ; Technology
关键词[WOS]ROBOTS ; FINS
收录类别SCI
语种英语
WOS研究方向Engineering
WOS类目Engineering, Civil ; Engineering, Ocean ; Engineering, Mechanical
WOS记录号WOS:000356114600001
引用统计
被引频次:3[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/173211/7937
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
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GB/T 7714
Wei, Qingping,Wang, Shuo,Wang, Yu,et al. Course and Depth Control for a Biomimetic Underwater Vehicle - RobCutt-I[J]. INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING,2015,25(2):81-87.
APA Wei, Qingping,Wang, Shuo,Wang, Yu,Zhou, Chao,&Tan, Min.(2015).Course and Depth Control for a Biomimetic Underwater Vehicle - RobCutt-I.INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING,25(2),81-87.
MLA Wei, Qingping,et al."Course and Depth Control for a Biomimetic Underwater Vehicle - RobCutt-I".INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING 25.2(2015):81-87.
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