Way-point tracking control for a biomimetic underwater vehicle based on backstepping

In this paper, a new approach of way-point tracking control is investigated for a biomimetic underwater vehicle (BUV) propelled by undulatory fins. First, the system design and the model of the BUV are presented. Compared with traditional autonomous underwater vehicles (AUVs) propelled by screw prop...

Full description

Saved in:
Bibliographic Details
Published in2016 35th Chinese Control Conference (CCC) pp. 5970 - 5975
Main Authors Wang, Rui, Wang, Shuo, Wang, Yu, Wei, Qingping
Format Conference Proceeding Journal Article
LanguageEnglish
Published TCCT 01.07.2016
Subjects
Backstepping
Biomimetic underwater vehicle
Biomimetics
Control systems
Controllers
Force
Guidance system
Low speed
Propellers
Propulsion
Screws
Target tracking
Tracking control
Tracking problem
Underwater vehicles
Undulatory fin
Way-point tracking control
Online AccessGet full text

Cover

More Information
Summary:In this paper, a new approach of way-point tracking control is investigated for a biomimetic underwater vehicle (BUV) propelled by undulatory fins. First, the system design and the model of the BUV are presented. Compared with traditional autonomous underwater vehicles (AUVs) propelled by screw propellers, the concept design enhances the maneuverability and stability of AUVs at low speed. Then the way-point tracking problem of the BUV is formulated. Moreover, a way-point tracking control scheme combining a guidance system of low complexity with backstepping technique is proposed to achieve fast and effective convergence to the desired path composed of a series of given way-points for this BUV. In the end, simulations demonstrate the performance of the proposed way-point tracking controller.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Conference-1
ObjectType-Feature-3
content type line 23
SourceType-Conference Papers & Proceedings-2
ISSN:2161-2927
1934-1768
DOI:10.1109/ChiCC.2016.7554294