Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin
文献类型：期刊论文
| 作者 | Liu, Jincun1 ; Liu, Zhenna2; Yu, Junzhi1,3
|
| 刊名 | SCIENCE CHINA-INFORMATION SCIENCES
 |
| 出版日期 | 2021 |
| 卷号 | 64期号:1页码:12 |
| 关键词 | robotic dolphin path following 3-D LOS guidance law decoupling motion |
| ISSN号 | 1674-733X |
| DOI | 10.1007/s11432-019-2743-8 |
| 通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
| 英文摘要 | This paper investigates the three-dimensional (3-D) path following control problem for an under-actuated robotic dolphin. With a comprehensive consideration of the mechanical constraint and swimming principle of the robotic dolphin, a decoupling motion strategy is proposed to produce yaw and pitch maneuvers simultaneously. Then, kinematics and dynamics models for 3-D dolphin-like swimming are established, followed by simulations of the path following control. Furthermore, a novel lookahead based 3-D line-of-sight (LOS) guidance law is developed and implemented to obtain desired attitude angles with its simplicity, intuitiveness, and small computational footprint. Finally, simulation results illustrate the feasibility and effectiveness of the proposed path following control methods. |
| WOS关键词 | GUIDANCE |
| 资助项目 | National Natural Science Foundation of China[61903007] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61633004] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61973007] ; National Natural Science Foundation of China[U1909206] ; Pre-research Fund of Equipment of China[61402070304] ; Key Research and Development and Transformation Project of Qinghai Province[2017-GX-103] ; Youth Innovation Science and Technology Plan of Shandong Province[2019KJN015] |
| WOS研究方向 | Computer Science ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000678203500001 |
| 出版者 | SCIENCE PRESS |
| 资助机构 | National Natural Science Foundation of China ; Pre-research Fund of Equipment of China ; Key Research and Development and Transformation Project of Qinghai Province ; Youth Innovation Science and Technology Plan of Shandong Province |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45584]  |
| 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 | Yu, Junzhi |
| 作者单位 | 1.Peking Univ, Dept Mech & Engn Sci, Coll Engn, State Key Lab Turbulence & Complex Syst,BIC ESAT, Beijing 100871, Peoples R China 2.Shandong Labor Vocat & Tech Coll, Dept Elect & Automat, Jinan 250022, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liu, Jincun,Liu, Zhenna,Yu, Junzhi. Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin[J]. SCIENCE CHINA-INFORMATION SCIENCES,2021,64(1):12. |
| APA | Liu, Jincun,Liu, Zhenna,&Yu, Junzhi.(2021).Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin.SCIENCE CHINA-INFORMATION SCIENCES,64(1),12. |
| MLA | Liu, Jincun,et al."Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin".SCIENCE CHINA-INFORMATION SCIENCES 64.1(2021):12. |
入库方式： OAI收割
来源：自动化研究所
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