Three-Dimensional Helical Path Following of an Underwater Biomimetic Vehicle-Manipulator System
Three-Dimensional Helical Path Following of an Underwater Biomimetic Vehicle-Manipulator System
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DOI：
10.1109/joe.2017.2762498
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发表时间：
2018-04
影响因子：
4.1
通讯作者：
Rui Wang;Shuo Wang;Yu Wang;Chong Tang;M. Tan
中科院分区：
文献类型：
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作者：
Rui Wang;Shuo Wang;Yu Wang;Chong Tang;M. Tan
研究了波动鳍驱动的水下仿生机器人-机械手系统(RoBCutt-II)的三维螺旋路径跟踪方法。通过模仿墨鱼独特的波动推进方式，希望RobCutt-II能够获得良好的低速稳定性，有助于进行稳定有效的水下作业。对于某些水下应用，UBVMS应该自动生成并通过特定对象的螺旋路径进行测量和干预。为此，提出了一种路径跟踪控制方案。具体地说，路径生成器根据目标位置和特定的约束条件提供三维螺旋路径。为了跟踪水下空间中产生的路径，提出了由一个制导系统、三个自抗扰控制(ADRC)子控制器和模糊控制分配方法组成的控制结构。最后，在样机RobCutt-II上进行了两个实验，验证了所提控制方案的有效性。
This paper aims to investigate the method of 3-D helical path following of an underwater biomimetic vehicle-manipulator system (UBVMS) propelled by undulatory fins (RobCutt-II). By mimicking the unique undulatory propulsion mode of cuttlefish, we hope that RobCutt-II could obtain good low-speed stability, which helps to perform stable and effective underwater operations. For some underwater applications, the UBVMS should autonomously generate and pass through a helical path around specific object for survey and intervention. Therefore, a path-following control scheme is proposed. In particular, the path generator provides a 3-D helical path according to the target position and the specific constraint conditions. To follow the generated path in underwater space, the control architecture, which consists of a guidance system, three active disturbance rejection control (ADRC) subcontrollers, and fuzzy method for control allocation, is proposed. Finally, two experiments conducted on the prototype RobCutt-II illustrate the effectiveness of the proposed control scheme.