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Fault-tolerant heading control for a bionic gliding robotic dolphin with flipper faults

文献类型：期刊论文

作者Zhang, Yang; Wu, Zhengxing2; Wang, Jian; Li, Sijie; Tan, Min
刊名OCEAN ENGINEERING
出版日期2024-05-15
卷号300页码:9
关键词Gliding robotic dolphin Underwater bionic robot Fault-tolerant control
ISSN号0029-8018
DOI10.1016/j.oceaneng.2024.117485
通讯作者Wu, Zhengxing(zhengxing.wu@ia.ac.cn)
英文摘要This paper presents a fault-tolerant heading-control method for a bionic gliding robotic dolphin operating in the presence of flipper faults. To achieve both high manoeuvrability and long endurance, a bionic gliding robotic dolphin that integrates the propulsion modes of dolphins and underwater gliders is introduced. The operational conditions of the flippers are considered meticulously, and common fault types that can arise during the gliding process, such as stuck, failure, and efficiency-loss faults, are analysed. These faults can affect the heading capabilities of the gliding robotic dolphin. To ensure normal navigation in the presence of flipper faults, a fault-tolerant heading control method is devised for the gliding robotic dolphin. This method applies backstepping sliding control to establish control laws based on a dynamic model. Subsequently, a flipper angle solver is designed to convert the controller outputs into deflection angles for the flippers. Simulation results obtained under three typical flipper faults demonstrate the effectiveness of the proposed fault-tolerant control method. This fault-tolerant control method ensures the safety of gliding robotic dolphins under complex deep-sea conditions.
资助项目National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62203436] ; National Natural Science Foundation of China[62233001] ; National Natural Science Foundation of China[62373353] ; Beijing Nova Program[20230484457]
WOS研究方向Engineering ; Oceanography
语种英语
WOS记录号WOS:001220663400001
出版者PERGAMON-ELSEVIER SCIENCE LTD
资助机构National Natural Science Foundation of China ; Beijing Nova Program
源URL[http://ir.ia.ac.cn/handle/173211/58354]  
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Wu, Zhengxing
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, 19A Yuquan Rd, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, 95 Zhongguancun East Rd, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Zhang, Yang,Wu, Zhengxing,Wang, Jian,et al. Fault-tolerant heading control for a bionic gliding robotic dolphin with flipper faults[J]. OCEAN ENGINEERING,2024,300:9.
APA Zhang, Yang,Wu, Zhengxing,Wang, Jian,Li, Sijie,&Tan, Min.(2024).Fault-tolerant heading control for a bionic gliding robotic dolphin with flipper faults.OCEAN ENGINEERING,300,9.
MLA Zhang, Yang,et al."Fault-tolerant heading control for a bionic gliding robotic dolphin with flipper faults".OCEAN ENGINEERING 300(2024):9.

入库方式： OAI收割

来源：自动化研究所

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