A Paradigm for Path Following Control of a Ribbon-Fin Propelled Biomimetic Underwater Vehicle
文献类型：期刊论文
| 作者 | Wang, Rui1,2 ; Wang, Shuo1,2; Wang, Yu1; Tan, Min1; Yu, Junzhi1
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| 刊名 | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
 |
| 出版日期 | 2019-03-01 |
| 卷号 | 49期号:3页码:482-493 |
| 关键词 | Terms-Backstepping (BP) biomimetic underwater vehicle (BUV) line-of-sight (LOS) guidance path following ribbon-fin undulatory propulsion |
| ISSN号 | 2168-2216 |
| DOI | 10.1109/TSMC.2017.2705340 |
| 通讯作者 | Wang, Shuo(shuo.wang@ia.ac.cn) |
| 英文摘要 | 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. |
| WOS关键词 | TRAJECTORY-TRACKING ; FISH |
| 资助项目 | National Natural Science Foundation of China[61233014] ; National Natural Science Foundation of China[61333016] ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61421004] ; Beijing Natural Science Foundation[3141002] |
| WOS研究方向 | Automation & Control Systems ; Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000458810400002 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China ; Beijing Natural Science Foundation |
| 源URL | [http://ir.ia.ac.cn/handle/173211/25038]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室 |
| 通讯作者 | Wang, Shuo |
| 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. A Paradigm for Path Following Control of a Ribbon-Fin Propelled Biomimetic Underwater Vehicle[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2019,49(3):482-493. |
| APA | Wang, Rui,Wang, Shuo,Wang, Yu,Tan, Min,&Yu, Junzhi.(2019).A Paradigm for Path Following Control of a Ribbon-Fin Propelled Biomimetic Underwater Vehicle.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,49(3),482-493. |
| MLA | Wang, Rui,et al."A Paradigm for Path Following Control of a Ribbon-Fin Propelled Biomimetic Underwater Vehicle".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 49.3(2019):482-493. |
入库方式： OAI收割
来源：自动化研究所
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