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Model Predictive Trajectory Tracking Control of an Underactuated Bionic Underwater Vehicle

文献类型：期刊论文

作者Wang, Kaihui1; Zou, Wei1; Ma, Ruichen2; Wang, Yu2; Su, Hu2
刊名IEEE-ASME TRANSACTIONS ON MECHATRONICS
出版日期2023-09-26
页码12
关键词Bionic underwater vehicle (BUV) model predictive control (MPC) trajectory tracking undulatory propulsion
ISSN号1083-4435
DOI10.1109/TMECH.2023.3312562
通讯作者Wang, Yu(yu.wang@ia.ac.cn) ; Su, Hu(hu.su@ia.ac.cn)
英文摘要This article presents a study on trajectory tracking control for an underactuated bionic underwater vehicle that is propelled by undulating fins. The vehicle's propulsion mechanism is inspired by marine organisms, and its working principle is briefly introduced. Accurate trajectory tracking control is challenging due to the coupling of fin motions and the lack of control degree of freedom. The multi-input and multi-output characteristics of the tracking control task, coupled with the existence of system constraints, impose high requirements for the controller. To solve these problems, a novel dynamics model-based predictive control strategy is proposed and the control output at the dynamics level is obtained. To stabilize the underactuated dynamics, a practical sidesway compensator is designed and integrated into the control framework. The convergence of the approach is guaranteed. Real-time precise tracking control is realized. Extensive simulations and real-world experiments are carried out and compared with other control methods. Reliability and superiority of the proposed approach is demonstrated with up to an 80% reduction in trajectory tracking sidesway errors.
WOS关键词STABILITY
资助项目National Key Research and Development Program of China[2021ZD0114505] ; National Key Research and Development Program of China[2018YFB1306303] ; Beijing Natural Science Foundation[4222055] ; National Natural Science Foundation of China[61773374] ; National Natural Science Foundation of China[61702323] ; National Natural Science Foundation of China[62073316] ; National Natural Science Foundation of China[62122087] ; Major Basic Research Projects of Natural Science Foundation of Shandong Province[ZR2019ZD07] ; Scientific Research Program of Beijing Municipal Commission of Education -Natural Science Foundation of Beijing[KZ202210017024]
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:001078392800001
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Key Research and Development Program of China ; Beijing Natural Science Foundation ; National Natural Science Foundation of China ; Major Basic Research Projects of Natural Science Foundation of Shandong Province ; Scientific Research Program of Beijing Municipal Commission of Education -Natural Science Foundation of Beijing
源URL[http://ir.ia.ac.cn/handle/173211/53074]  
专题多模态人工智能系统全国重点实验室
通讯作者Wang, Yu; Su, Hu
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Wang, Kaihui,Zou, Wei,Ma, Ruichen,et al. Model Predictive Trajectory Tracking Control of an Underactuated Bionic Underwater Vehicle[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:12.
APA Wang, Kaihui,Zou, Wei,Ma, Ruichen,Wang, Yu,&Su, Hu.(2023).Model Predictive Trajectory Tracking Control of an Underactuated Bionic Underwater Vehicle.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12.
MLA Wang, Kaihui,et al."Model Predictive Trajectory Tracking Control of an Underactuated Bionic Underwater Vehicle".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):12.

入库方式： OAI收割

来源：自动化研究所

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