Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin

doi:10.1007/s11432-019-2743-8

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室

	Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin
	Liu, Jincun 1; Liu, Zhenna 2; Yu, Junzhi 1,3
刊名	SCIENCE CHINA-INFORMATION SCIENCES
	2021
卷号	64 期号:1 页码:12
关键词	robotic dolphin path following 3-D LOS guidance law decoupling motion
ISSN号	1674-733X
DOI	10.1007/s11432-019-2743-8
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要	This paper investigates the three-dimensional (3-D) path following control problem for an under-actuated robotic dolphin. With a comprehensive consideration of the mechanical constraint and swimming principle of the robotic dolphin, a decoupling motion strategy is proposed to produce yaw and pitch maneuvers simultaneously. Then, kinematics and dynamics models for 3-D dolphin-like swimming are established, followed by simulations of the path following control. Furthermore, a novel lookahead based 3-D line-of-sight (LOS) guidance law is developed and implemented to obtain desired attitude angles with its simplicity, intuitiveness, and small computational footprint. Finally, simulation results illustrate the feasibility and effectiveness of the proposed path following control methods.
资助项目	National Natural Science Foundation of China[61903007] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61633004] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61973007] ; National Natural Science Foundation of China[U1909206] ; Pre-research Fund of Equipment of China[61402070304] ; Key Research and Development and Transformation Project of Qinghai Province[2017-GX-103] ; Youth Innovation Science and Technology Plan of Shandong Province[2019KJN015]
WOS关键词	GUIDANCE
WOS研究方向	Computer Science ; Engineering
语种	英语
出版者	SCIENCE PRESS
WOS记录号	WOS:000678203500001
资助机构	National Natural Science Foundation of China ; Pre-research Fund of Equipment of China ; Key Research and Development and Transformation Project of Qinghai Province ; Youth Innovation Science and Technology Plan of Shandong Province
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45584]
专题	自动化研究所_复杂系统管理与控制国家重点实验室
通讯作者	Yu, Junzhi
作者单位	1.Peking Univ, Dept Mech & Engn Sci, Coll Engn, State Key Lab Turbulence & Complex Syst,BIC ESAT, Beijing 100871, Peoples R China 2.Shandong Labor Vocat & Tech Coll, Dept Elect & Automat, Jinan 250022, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Liu, Jincun,Liu, Zhenna,Yu, Junzhi. Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin[J]. SCIENCE CHINA-INFORMATION SCIENCES,2021,64(1):12.
APA	Liu, Jincun,Liu, Zhenna,&Yu, Junzhi.(2021).Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin.SCIENCE CHINA-INFORMATION SCIENCES,64(1),12.
MLA	Liu, Jincun,et al."Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin".SCIENCE CHINA-INFORMATION SCIENCES 64.1(2021):12.