Barrier-Based Adaptive Line-of-Sight 3-D Path-Following System for a Multijoint Robotic Fish With Sideslip Compensation

doi:10.1109/TCYB.2022.3155761

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 > 先进机器人控制团队

	Barrier-Based Adaptive Line-of-Sight 3-D Path-Following System for a Multijoint Robotic Fish With Sideslip Compensation
	Dai, Shijie 1,3; Wu, Zhengxing 3; Wang, Jian 3; Tan, Min 3; Yu, Junzhi 2,3
刊名	IEEE TRANSACTIONS ON CYBERNETICS
	2022-03-22
页码	14
关键词	Robots Robot kinematics Adaptive systems Navigation Solid modeling Force Complex systems 3-D path-following adaptive line-of-sight (LOS) guidance and control robotic fish time-varying sideslip angle
ISSN号	2168-2267
DOI	10.1109/TCYB.2022.3155761
通讯作者	Wu, Zhengxing(zhengxing.wu@ia.ac.cn)
英文摘要	This article proposes a novel barrier-based adaptive line-of-sight (ALOS) three-dimensional (3-D) path-following system for an underactuated multijoint robotic fish. The framework of the developed path-following system is established based on a detailed dynamic model, including a barrier-based ALOS guidance strategy, three integrated inner-loop controllers, and a nonlinear disturbance observer (NDOB)-based sideslip angle compensation, which is employed to preserve a reliable tracking under a frequently varying sideslip angle of the robotic fish. First, a barrier-based convergence strategy is proposed to deal with probable along-track error disruption and suppress the error within a manageable range. Meanwhile, an improved adaptive guidance scheme is adopted with an appropriate look-ahead distance. Afterward, a novel NDOB-based sideslip angle compensation is put forward to identify the varying sideslip angle independent of speed estimation. Subsequently, inner-loop controllers are intended for regulation about the controlled references, including a super-twisting sliding-mode control (STSMC)-based speed controller, a global fast terminal sliding-mode control (GFTSMC)-based heading controller, and a GFTSMC-based depth controller. Finally, simulations and experiments with quantitative comparison in 3-D linear and helical path following are presented to verify the effectiveness and robustness of the proposed system. This path-following system provides a solid foundation for future marine autonomous cruising of the underwater multijoint robot.
资助项目	National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[61973303] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[U1909206] ; Beijing Nova Program[Z201100006820078] ; Youth Innovation Promotion Association CAS[2019138]
WOS关键词	TRACKING CONTROL ; GUIDANCE ; VEHICLES
WOS研究方向	Automation & Control Systems ; Computer Science
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000773238600001
资助机构	National Natural Science Foundation of China ; Beijing Nova Program ; Youth Innovation Promotion Association CAS
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/48192]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Wu, Zhengxing
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, BIC ESAT,State Key Lab Turbulence & Complex Syst, Beijing 100871, 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	Dai, Shijie,Wu, Zhengxing,Wang, Jian,et al. Barrier-Based Adaptive Line-of-Sight 3-D Path-Following System for a Multijoint Robotic Fish With Sideslip Compensation[J]. IEEE TRANSACTIONS ON CYBERNETICS,2022:14.
APA	Dai, Shijie,Wu, Zhengxing,Wang, Jian,Tan, Min,&Yu, Junzhi.(2022).Barrier-Based Adaptive Line-of-Sight 3-D Path-Following System for a Multijoint Robotic Fish With Sideslip Compensation.IEEE TRANSACTIONS ON CYBERNETICS,14.
MLA	Dai, Shijie,et al."Barrier-Based Adaptive Line-of-Sight 3-D Path-Following System for a Multijoint Robotic Fish With Sideslip Compensation".IEEE TRANSACTIONS ON CYBERNETICS (2022):14.