A waypoint-tracking controller for a biomimetic autonomous underwater vehicle
A waypoint-tracking controller for a biomimetic autonomous underwater vehicle
复制标题
仿生自主水下航行器的航路点跟踪控制器
DOI：
10.1016/j.oceaneng.2005.11.012
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发表时间：
2006
影响因子：
5
通讯作者：
Jenhwa Guo
中科院分区：
文献类型：
--
作者：
Jenhwa Guo
本文开发了一种用于仿生自主水下航行器航路点跟踪的控制系统。BAUV通过摆动身体和尾鳍向前游动，通过弯曲身体和尾鳍向转弯方向转动。控制算法采用振荡频率控制前进速度，采用体样条偏移量参数控制前进速度。BAUV的运动是波动的，因此采用游动速度和航向误差的移动平均作为反馈信号。利用李雅普诺夫函数讨论了控制系统的稳定性。最后，通过实验验证了控制算法的有效性。
This work develops a control system for the waypoint-tracking of a biomimetic autonomous underwater vehicle (BAUV). The BAUV swims forward by oscillating its body and caudal fin. It turns by bending its body and caudal fin toward the turning direction. The control algorithm uses the oscillating frequency to control the forward velocity, and applies a body-spline offset parameter to control the heading velocity. The motion of the BAUV is undulatory, so moving averages of swimming velocity and heading errors are used as feedback signals. The stability of the control system is discussed using a Lyapunov function. Finally, the effectiveness of the control algorithm is experimentally confirmed.