Backstepping Control of Gliding Robotic Fish for Trajectory Tracking in 3D Space
Backstepping Control of Gliding Robotic Fish for Trajectory Tracking in 3D Space
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DOI：
10.23919/acc45564.2020.9147628
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发表时间：
2020-07
期刊：
影响因子：
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通讯作者：
Demetris Coleman;Xiaobo Tan
中科院分区：
文献类型：
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作者：
Demetris Coleman;Xiaobo Tan
自主水下滑翔机已成为宝贵的，节能的工具，用于无数的应用，包括海洋勘探，鱼类跟踪和环境采样。许多应用，如探索大面积的水下遗址或通过珊瑚礁导航，将受益于精细的轨迹跟踪。然而，水下滑翔机的轨迹跟踪控制是特别具有挑战性的，由于其欠驱动，非线性动力学。以滑翔机器鱼为例，在这项工作中，我们提出了一个基于backstepping的控制器的滑翔运动跟踪所需的参考俯仰角和位置在3D空间。特别是，下驱动的挑战是通过利用耦合动力学和引入一个新的修改后的误差项，结合俯仰和水平位置跟踪误差。通过仿真验证了该控制方案的有效性，并与PID控制器进行了比较。
Autonomous underwater gliders have become valuable, energy-efficient tools for a myriad of applications including ocean exploration, fish tracking, and environmental sampling. Many applications, such as, exploring a large area of underwater ruins or navigating through a coral reef, would benefit from fine trajectory tracking. However, trajectory tracking control of underwater gliders is particularly challenging due to their under-actuated, nonlinear dynamics. Taking gliding robotic fish as an example, in this work we propose a backstepping-based controller for the gliding motion to track a desired reference for the pitch angle and position in the 3D space. In particular, the challenge of under-actuation is addressed by exploiting the coupled dynamics and introducing a new modified error term that combines pitch and horizontal position tracking errors. The effectiveness of the proposed control scheme is demonstrated via simulation and its advantages are shown via comparison with a PID controller.