Backstepping-Based Hybrid Target Tracking Control for a Carangiform Robotic Fish

Backstepping-Based Hybrid Target Tracking Control for a Carangiform Robotic Fish
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基于反步的鲫形机器鱼混合目标跟踪控制

DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
Xiaobo Tan
Xiaobo Tan
中科院分区：
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文献类型：
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作者：
Songlin Chen;Jianxun Wang;Xiaobo Tan

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在本文中，我们采用反推技术开发一种新的混合目标跟踪控制方案的carangiform机器鱼，基于一个动态模型，结合刚体动力学与Lighthill的大振幅细长体理论。该混合控制器由开环转向控制器和闭环逼近控制器组成。设计了一种基于定位误差的滞环切换策略。利用李雅普诺夫分析，我们表明，机器鱼的轨迹将收敛到目标点。通过仿真和实验证明了所提出的控制策略的有效性。Copyright © 2013 by ASME
In this paper we apply backstepping technique to develop a novel hybrid target-tracking control scheme for a carangiform robotic fish, based on a dynamic model that combines rigid-body dynamics with Lighthill’s large-amplitude elongated-body theory. This hybrid controller consists of an open-loop turning controller and a closed-loop approaching controller. A hysteretic switching strategy based on the orientation error is designed. Using Lyapunov analysis, we show that the trajectory of the robotic fish will converge to the target point. The effectiveness of the proposed control strategy is demonstrated through both simulations and experiments.Copyright © 2013 by ASME