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Integrated Tracking Control of an Underwater Bionic Robot Based on Multimodal Motions

文献类型：期刊论文

作者Wang, Jian4; Wu, Zhengxing4; Zhang, Yang3,4; Kong, Shihan2; Tan, Min4; Yu, Junzhi1,2
刊名IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
出版日期2024-03-01
卷号54期号:3页码:1599-1610
关键词Disturbance observer (DOB) fuzzy system model predictive control (MPC) tracking control underwater bionic robot
ISSN号2168-2216
DOI10.1109/TSMC.2023.3328010
通讯作者Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要As a key technology for autonomous underwater operations, precise tracking control in tight space environments is a great challenge. With the aid of high maneuverability of the underwater bionic robot, this article proposes an integrated tracking control framework for a robotic dolphin to move through narrow areas, including top-level planning, middle-level tracking, and bottom-level control allocation. First, a nonlinear model predictive control-based planning method is presented with full consideration of tracking accuracy and obstacle avoidance safety. Second, in order to improve the anti-interference ability, we derive a nonlinear path tracking control law by combining the backstepping technique with a nonlinear disturbance observer. More importantly, through hydrodynamic analysis of the bionic multimodal motions under flippers and flukes, a fuzzy-based nonlinear control allocation system is particularly adopted to convert calculated control forces into bionic motion parameters. Finally, extensive simulations and aquatic experiments are conducted, and the obtained results validate the effectiveness of proposed methods, providing a new idea to further ocean exploration.
WOS关键词TRAJECTORY TRACKING ; OBSTACLE AVOIDANCE ; MPC
资助项目National Natural Science Foundation of China
WOS研究方向Automation & Control Systems ; Computer Science
语种英语
WOS记录号WOS:001165495200001
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/173211/55646]  
专题复杂系统管理与控制国家重点实验室_水下机器人
通讯作者Yu, Junzhi
作者单位1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China
2.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
4.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Wang, Jian,Wu, Zhengxing,Zhang, Yang,et al. Integrated Tracking Control of an Underwater Bionic Robot Based on Multimodal Motions[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2024,54(3):1599-1610.
APA Wang, Jian,Wu, Zhengxing,Zhang, Yang,Kong, Shihan,Tan, Min,&Yu, Junzhi.(2024).Integrated Tracking Control of an Underwater Bionic Robot Based on Multimodal Motions.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,54(3),1599-1610.
MLA Wang, Jian,et al."Integrated Tracking Control of an Underwater Bionic Robot Based on Multimodal Motions".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 54.3(2024):1599-1610.

入库方式： OAI收割

来源：自动化研究所

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