Switching control for 3-D waypoint tracking of a biomimetic underwater vehicle
文献类型：期刊论文
| 作者 | Rui Wang ; Yu Wang; Shuo Wang; Chong Tang; Min Tan
|
| 刊名 | Switching Control for 3-D Waypoint Tracking of a Biomimetic Underwater Vehicle
 |
| 出版日期 | 2018 |
| 卷号 | 28期号:3页码:255–262 |
| 关键词 | Waypoint Tracking Biomimetic Underwater Vehicle |
| 英文摘要 | This paper addresses the problem of three-dimensional (3-D) waypoint tracking for a biomimetic underwater vehicle (BUV) propelled by undulatory fins: RobCutt-II. Based on the specific mechanical design and control system configuration, the RobCutt-II can perform diversified locomotion patterns, especially submerging or surfacing vertically in the water. For practical underwater operating procedures, a selective switching control for 3-D waypoint tracking is proposed. This control scheme contains a depth controller, a waypoint tracking controller, and a selector. When tracking a series of given 3-D waypoints, the RobCutt-II can switch between two closed-loop locomotion patterns, i.e., the depth control pattern and the waypoint tracking pattern. Simulations and a comparative experimental study demonstrate the feasibility and effectiveness of the proposed switching control scheme. |
| WOS记录号 | WOS:000444808400005 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/21718]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Yu Wang; Shuo Wang |
| 作者单位 | State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences |
| 推荐引用方式 GB/T 7714 | Rui Wang,Yu Wang,Shuo Wang,et al. Switching control for 3-D waypoint tracking of a biomimetic underwater vehicle[J]. Switching Control for 3-D Waypoint Tracking of a Biomimetic Underwater Vehicle,2018,28(3):255–262. |
| APA | Rui Wang,Yu Wang,Shuo Wang,Chong Tang,&Min Tan.(2018).Switching control for 3-D waypoint tracking of a biomimetic underwater vehicle.Switching Control for 3-D Waypoint Tracking of a Biomimetic Underwater Vehicle,28(3),255–262. |
| MLA | Rui Wang,et al."Switching control for 3-D waypoint tracking of a biomimetic underwater vehicle".Switching Control for 3-D Waypoint Tracking of a Biomimetic Underwater Vehicle 28.3(2018):255–262. |
入库方式： OAI收割
来源：自动化研究所
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