CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Course and Depth Control for a Biomimetic Underwater Vehicle - RobCutt-I
Wei, Qingping; Wang, Shuo; Wang, Yu; Zhou, Chao; Tan, Min
Source PublicationINTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING
2015-06-01
Volume25Issue:2Pages:81-87
SubtypeArticle
AbstractThis 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.
KeywordBiomimetic Underwater Vehicle (Buv) Undulating Fin Active Disturbance Rejection Control (Adrc) Course Control Depth Control
WOS HeadingsScience & Technology ; Technology
WOS KeywordROBOTS ; FINS
Indexed BySCI
Language英语
WOS Research AreaEngineering
WOS SubjectEngineering, Civil ; Engineering, Ocean ; Engineering, Mechanical
WOS IDWOS:000356114600001
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/7937
Collection复杂系统管理与控制国家重点实验室_先进机器人
AffiliationChinese Acad Sci, Inst Automat, Beijing, Peoples R China
Recommended Citation
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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