Tight-Space Maneuvering of a Hybrid-Driven Robotic Fish Using Backstepping-Based Adaptive Control
文献类型：期刊论文
| 作者 | Li, Sijie1,2; Wu, Zhengxing1,2 ; Dai, Shijie1,2; Wang, Jian1,2; Tan, Min1,2; Yu, Junzhi2,3
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| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
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| 出版日期 | 2023-12-15 |
| 页码 | 13 |
| 关键词 | Robots Propellers Robot kinematics Robot sensing systems Propulsion Mechatronics Hydrodynamics 3-D path following backstepping-based adaptive control depth control hybrid drive robotic fish |
| ISSN号 | 1083-4435 |
| DOI | 10.1109/TMECH.2023.3338879 |
| 通讯作者 | Wu, Zhengxing() |
| 英文摘要 | Precise path-following control in tight space is a great challenge for underwater operation. To this end, this article proposes a 3-D path-following control system for a miniature robotic fish. Aiming at achieving higher maneuverability, a newly designed miniature hybrid-driven robotic fish is presented for maneuvering in a tight space, owning both fish-like and propeller-based motion modes. On this basis, a novel 3-D path-following control framework is proposed, including a navigation strategy, a depth controller, a heading controller, and a nonlinear mapping process, ensuring reliable 3-D path-following performance. More importantly, a gliding-oscillating-strategy-based backstepping-adaptive control method is provided to attenuate the jitter of the tracking error, which exhibits both low sensitivity to the hydrodynamic parameters and ideal match to the 3-D path tracking of a single-jointed robotic fish. Extensive comparative simulations and aquatic experiments are carried out, e.g., flexible swimming among obstacles in tight space and 3-D path-following tasks with imprecise hydrodynamic parameters. The obtained results verify the effectiveness of the designed prototype and the proposed methods, providing valuable insight for the new-type underwater platform design and underwater operations in tight space. |
| WOS关键词 | MOMENT ; DRAG |
| 资助项目 | National Natural Science Foundation of China |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:001130331100001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/54985]  |
| 专题 | 复杂系统认知与决策实验室 |
| 通讯作者 | Wu, Zhengxing |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 3.Peking Univ, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, BIC ESAT,Coll Engn, Beijing 100871, Peoples R China |
| 推荐引用方式 GB/T 7714 | Li, Sijie,Wu, Zhengxing,Dai, Shijie,et al. Tight-Space Maneuvering of a Hybrid-Driven Robotic Fish Using Backstepping-Based Adaptive Control[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:13. |
| APA | Li, Sijie,Wu, Zhengxing,Dai, Shijie,Wang, Jian,Tan, Min,&Yu, Junzhi.(2023).Tight-Space Maneuvering of a Hybrid-Driven Robotic Fish Using Backstepping-Based Adaptive Control.IEEE-ASME TRANSACTIONS ON MECHATRONICS,13. |
| MLA | Li, Sijie,et al."Tight-Space Maneuvering of a Hybrid-Driven Robotic Fish Using Backstepping-Based Adaptive Control".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):13. |
入库方式： OAI收割
来源：自动化研究所
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