Motion Planning and Control of a Swimming Machine
Motion Planning and Control of a Swimming Machine
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DOI：
10.1109/acc.2001.945526
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发表时间：
2004-01
期刊：
影响因子：
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通讯作者：
S. Saimek;Perry Y. Li
中科院分区：
文献类型：
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作者：
S. Saimek;Perry Y. Li
提出了一种以摆动翼为推进器的水上航行器的机动控制策略。这个问题的挑战在于需要考虑流体动力学的相互作用，以及欠驱动和非最小相位的AV系统的性质。将控制任务分解为离线运动规划和在线反馈跟踪两个步骤。最佳控制技术被用来计算一个剧目的时间可缩放和级联的运动原语。完整的运动计划是通过连接的时间缩放的副本的图元。计算出的最优运动计划由一个控制器调节，该控制器由线性二次型调节器、输入输出反馈线性化和滑模控制级联而成。时变线性二次控制器也可以是时间尺度和级联的。因此，它们可以预先计算。所提出的策略已被实验验证为约束的纵向机动和无约束的纵向/横向机动。
We propose a practical maneuvering control strategy for an aquatic vehicle (AV) that uses an oscillating foil as a propulsor. The challenge of this problem lies in the need to consider the hydrodynamic interaction as well as the underactuated and non-minimum phase natures of the AV system. The control task is decomposed into the off-line step of motion planning and the on-line step of feedback tracking. Optimal control techniques are used to compute a repertoire of time-scalable and concatenable motion primitives. The complete motion plan is obtained by concatenating time-scaled copies of the primitives. The computed optimal motion plans are regulated by a controller that consists of a cascade of linear quadratic regulator, input–output feedback linearization and sliding mode control. Time-varying linear quadratic controllers can also be time-scaled and concatenated. Therefore, they can be computed beforehand. The proposed strategy has been experimentally validated for both constrained longitudinal only maneuvers and unconstrained longitudinal/lateral maneuvers.