Path following for a biomimetic underwater vehicle based on ADRC

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	Path following for a biomimetic underwater vehicle based on ADRC
	Wang, Rui1,2 ; Wang, Shuo1 ; Wang, Yu1 ; Tang, Chong1,2
	2017
会议日期	May 29 - June 3, 2017
会议地点	Singapore
英文摘要	This paper addresses the problem of path following for a biomimetic underwater vehicle (BUV) propelled by undulatory fins with uncertain model and unknown disturbance. The mechanical structure of the BUV is briefly described. Moreover, the general kinematics and dynamics models of the vehicle are presented and the path following problem is formulated. The controller combining line-of-sight (LOS) guidance system with active disturbance rejection control (ADRC) technique is designed to maneuver the BUV to follow a predefined parameterized curve. Specifically, a guidance system based on LOS principle is implemented to decouple the multi-variable system to steer the surge speed and the course respectively. Furthermore, in order to deal with model uncertainty, ADRC is used in development of the surge speed controller and the course controller. Finally, simulations and experimental results validated the performance of the proposed path following control scheme.
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/20020]
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	1.Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences
推荐引用方式 GB/T 7714	Wang, Rui,Wang, Shuo,Wang, Yu,et al. Path following for a biomimetic underwater vehicle based on ADRC[C]. 见:. Singapore. May 29 - June 3, 2017.