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Course and Depth Control for a Biomimetic Underwater Vehicle - RobCutt-I

文献类型：期刊论文

作者Wei, Qingping; Wang, Shuo; Wang, Yu; Zhou, Chao; Tan, Min
刊名INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING
出版日期2015-06-01
卷号25期号:2页码:81-87
关键词Biomimetic underwater vehicle (BUV) undulating fin Active Disturbance Rejection Control (ADRC) course control depth control
英文摘要This paper presents the design and fabrication of a new type of Biomimetic Underwater Vehicle (BUV) inspired by cuttlefish: the RobCutt-I. The Rob Cutt-I has good maneuverability and can perform multiple motion modes, especially submerging or surfacing vertically in the water. A course controller and a depth controller for the RobCutt-I were proposed based on the Active Disturbance Rejection Control (ADRC) technique. Experiments conducted on the RobCutt-I prototype validated the feasibility and effectiveness of the mechanism and control system. Simulations and experiments conducted on the Rob Cutt-I prototype showed that both the course controller and depth controller give better performance than the PID controller.
WOS标题词Science & Technology ; Technology
类目[WOS]Engineering, Civil ; Engineering, Ocean ; Engineering, Mechanical
研究领域[WOS]Engineering
关键词[WOS]ROBOTS ; FINS
收录类别SCI
语种英语
WOS记录号WOS:000356114600001
公开日期2015-09-22
源URL[http://ir.ia.ac.cn/handle/173211/7937]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
推荐引用方式
GB/T 7714		 Wei, Qingping,Wang, Shuo,Wang, Yu,et al. Course and Depth Control for a Biomimetic Underwater Vehicle - RobCutt-I[J]. INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING,2015,25(2):81-87.
APA Wei, Qingping,Wang, Shuo,Wang, Yu,Zhou, Chao,&Tan, Min.(2015).Course and Depth Control for a Biomimetic Underwater Vehicle - RobCutt-I.INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING,25(2),81-87.
MLA Wei, Qingping,et al."Course and Depth Control for a Biomimetic Underwater Vehicle - RobCutt-I".INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING 25.2(2015):81-87.

入库方式： OAI收割

来源：自动化研究所

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