期刊
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
卷 49, 期 3, 页码 482-493出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2017.2705340
关键词
Terms-Backstepping (BP); biomimetic underwater vehicle (BUV); line-of-sight (LOS) guidance; path following; ribbon-fin; undulatory propulsion
资金
- National Natural Science Foundation of China [61233014, 61333016]
- Foundation for Innovative Research Groups of the National Natural Science Foundation of China [61421004]
- Beijing Natural Science Foundation [3141002]
This paper addresses the problem of path following for biomimetic underwater vehicles (BUVs) propelled by undulatory ribbon-fins. First, the general kinematics and dynamics models of underwater vehicles are presented, followed by a fuzzy logic model for dealing with a nonlinear relationship between the propulsive force/torque and the control parameters of the undulatory fins of the BUV. Then the path following problem of the BUV is formulated. A path following control paradigm integrating the line-of-sight guidance system with backstepping (BP) technique is proposed to maneuver the BUV to follow a predefined parameterized curve without time constraints. The stability of the BP controller is analyzed and guaranteed by Lyapunov stability theory. Finally, simulations and experimental results illustrate the performance of the proposed path following control paradigm.
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