Three-Dimensional Helical Path Following of an Underwater Biomimetic Vehicle-Manipulator System
文献类型：期刊论文
| 作者 | Wang, Rui1,2 ; Wang, Shuo1,2; Wang, Yu1; Tang, Chong1,2; Tan, Min1
|
| 刊名 | IEEE JOURNAL OF OCEANIC ENGINEERING
 |
| 出版日期 | 2018-04-01 |
| 卷号 | 43期号:2页码:391-401 |
| 关键词 | Active Disturbance Rejection Control (Adrc) Guidance System 3-d Helical Path Following Underwater Biomimetic Vehicle-manipulator System (Ubvms) Undulatory Propulsion |
| DOI | 10.1109/JOE.2017.2762498 |
| 文献子类 | Article |
| 英文摘要 | This paper aims to investigate the method of 3D helical path following of an underwater biomimetic vehicle-manipulator system (UBVMS) propelled by undulatory fins (RobCutt-II). By mimicking the unique undulatory propulsion mode of cuttlefish, we hope that RobCutt-II could obtain good low-speed stability, which helps to perform stable and effective underwater operations. For some underwater applications, the UBVMS should autonomously generate and pass through a helical path around specific object for survey and intervention. Therefore, a path-following control scheme is proposed. In particular, the path generator provides a 3-D helical path according to the target position and the specific constraint conditions. To follow the generated path in underwater space, the control architecture, which consists of a guidance system, three active disturbance rejection control (ADRC) subcontrollers, and fuzzy method for control allocation, is proposed. Finally, two experiments conducted on the prototype RobCutt-II illustrate the effectiveness of the proposed control scheme. |
| WOS关键词 | TRAJECTORY-TRACKING ; UNDERACTUATED SHIPS ; ELECTRIC FISH ; COMMUNICATION ; ROBOTS ; DEPTH |
| WOS研究方向 | Engineering ; Oceanography |
| 语种 | 英语 |
| WOS记录号 | WOS:000429957500009 |
| 资助机构 | National Natural Science Foundation of China(61773378 ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China(61421004) ; 61703401 ; 61233014 ; 61333016) |
| 源URL | [http://ir.ia.ac.cn/handle/173211/22019]  |
| 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 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Rui,Wang, Shuo,Wang, Yu,et al. Three-Dimensional Helical Path Following of an Underwater Biomimetic Vehicle-Manipulator System[J]. IEEE JOURNAL OF OCEANIC ENGINEERING,2018,43(2):391-401. |
| APA | Wang, Rui,Wang, Shuo,Wang, Yu,Tang, Chong,&Tan, Min.(2018).Three-Dimensional Helical Path Following of an Underwater Biomimetic Vehicle-Manipulator System.IEEE JOURNAL OF OCEANIC ENGINEERING,43(2),391-401. |
| MLA | Wang, Rui,et al."Three-Dimensional Helical Path Following of an Underwater Biomimetic Vehicle-Manipulator System".IEEE JOURNAL OF OCEANIC ENGINEERING 43.2(2018):391-401. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。