Line-of-Sight Strategy-Based Path-Following System for a Multi-Joint Robotic Fish

被引：0

作者：

Dai, Shijie ^{[1
,2
]}

Zhou, Chao ^{[4
]}

Wu, Zhengxing ^{[1
,2
]}

Tan, Min ^{[1
,2
]}

Yu, Junzhi ^{[1
,2
,3
]}

机构：

[1] Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China

[2] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China

[3] Peking Univ, Coll Engn, Dept Mech & Engn Sci, BIC ESAT,State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China

[4] Naval Res Acad, Beijing 100072, Peoples R China

来源：

2020 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (IEEE-RCAR 2020) | 2020年

基金：

中国国家自然科学基金;

关键词：

LOCOMOTION;

D O I：

10.1109/rcar49640.2020.9303317

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a real-time path-following control system for a multi-joint robotic fish. The mechanical structure and dynamic model of the robotic fish for path-following are first described. Then, the framework of the path-following control algorithm is established based on the built dynamic model, including a modified line-of-sight (LOS) guidance law, an active disturbance rejection control (ADRC)based heading controller and a proportional-integral-derivative (PID)-based speed controller. Specially, the modified LOS strategy is designed to select the tracking points and also provide the desired heading angle. Afterwards, to overcome systematic uncertainties and environmental disturbances, the ADRC method is adopted to design the heading controller. Meanwhile, the ND controller is also developed to maintain an appropriate swimming speed. Finally, simulations in both linear- and circular-path following are presented to validate the effectiveness of the proposed method.

引用

页码：111 / 116

页数：6

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