基于有限时间视线制导的线驱动机器鱼路径跟踪控制

IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY Biomimetics Pub Date : 2024-09-15 DOI:10.3390/biomimetics9090556
Yuyang Mo, Weiheng Su, Zicun Hong, Yunquan Li, Yong Zhong
{"title":"基于有限时间视线制导的线驱动机器鱼路径跟踪控制","authors":"Yuyang Mo, Weiheng Su, Zicun Hong, Yunquan Li, Yong Zhong","doi":"10.3390/biomimetics9090556","DOIUrl":null,"url":null,"abstract":"<p><p>This paper presents an adaptive line-of-sight (LOS) guidance method, incorporating a finite-time sideslip angle observer to achieve precise planar path tracking of a bionic robotic fish driven by LOS. First, an adaptive LOS guidance method based on real-time cross-track error is presented. To mitigate the adverse effects of the sideslip angle on tracking performance, a finite-time observer (FTO) based on finite-time convergence theory is employed to observe the time-varying sideslip angle and correct the target yaw. Subsequently, classical proportional-integral-derivative (PID) controllers are utilized to achieve yaw tracking, followed by static and dynamic yaw angle experiments for evaluation. Finally, the yaw-tracking-based path-tracking control strategy is applied to the robotic fish, whose motion is generated by an improved central pattern generator (CPG) and equipped with a six-axis inertial measurement unit for real-time swimming direction. Quantitative comparisons in tank experiments validate the effectiveness of the proposed method.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":null,"pages":null},"PeriodicalIF":3.4000,"publicationDate":"2024-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11430627/pdf/","citationCount":"0","resultStr":"{\"title\":\"Finite-Time Line-of-Sight Guidance-Based Path-Following Control for a Wire-Driven Robot Fish.\",\"authors\":\"Yuyang Mo, Weiheng Su, Zicun Hong, Yunquan Li, Yong Zhong\",\"doi\":\"10.3390/biomimetics9090556\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p><p>This paper presents an adaptive line-of-sight (LOS) guidance method, incorporating a finite-time sideslip angle observer to achieve precise planar path tracking of a bionic robotic fish driven by LOS. First, an adaptive LOS guidance method based on real-time cross-track error is presented. To mitigate the adverse effects of the sideslip angle on tracking performance, a finite-time observer (FTO) based on finite-time convergence theory is employed to observe the time-varying sideslip angle and correct the target yaw. Subsequently, classical proportional-integral-derivative (PID) controllers are utilized to achieve yaw tracking, followed by static and dynamic yaw angle experiments for evaluation. Finally, the yaw-tracking-based path-tracking control strategy is applied to the robotic fish, whose motion is generated by an improved central pattern generator (CPG) and equipped with a six-axis inertial measurement unit for real-time swimming direction. Quantitative comparisons in tank experiments validate the effectiveness of the proposed method.</p>\",\"PeriodicalId\":8907,\"journal\":{\"name\":\"Biomimetics\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":3.4000,\"publicationDate\":\"2024-09-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11430627/pdf/\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Biomimetics\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.3390/biomimetics9090556\",\"RegionNum\":3,\"RegionCategory\":\"医学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Biomimetics","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.3390/biomimetics9090556","RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
引用次数: 0

摘要

本文介绍了一种自适应视线(LOS)制导方法,该方法结合了有限时间侧滑角观测器,以实现由 LOS 驱动的仿生机器鱼的精确平面路径跟踪。首先,介绍了一种基于实时交叉轨迹误差的自适应 LOS 引导方法。为减轻侧倾角对跟踪性能的不利影响,采用了基于有限时间收敛理论的有限时间观测器(FTO)来观测时变侧倾角并修正目标偏航。随后,利用经典的比例-积分-派生(PID)控制器实现偏航跟踪,并进行静态和动态偏航角实验进行评估。最后,将基于偏航跟踪的路径跟踪控制策略应用于机器鱼,机器鱼的运动由改进的中央模式发生器(CPG)生成,并配备了一个六轴惯性测量单元,用于实时确定游动方向。水箱实验中的定量比较验证了所提方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Finite-Time Line-of-Sight Guidance-Based Path-Following Control for a Wire-Driven Robot Fish.

This paper presents an adaptive line-of-sight (LOS) guidance method, incorporating a finite-time sideslip angle observer to achieve precise planar path tracking of a bionic robotic fish driven by LOS. First, an adaptive LOS guidance method based on real-time cross-track error is presented. To mitigate the adverse effects of the sideslip angle on tracking performance, a finite-time observer (FTO) based on finite-time convergence theory is employed to observe the time-varying sideslip angle and correct the target yaw. Subsequently, classical proportional-integral-derivative (PID) controllers are utilized to achieve yaw tracking, followed by static and dynamic yaw angle experiments for evaluation. Finally, the yaw-tracking-based path-tracking control strategy is applied to the robotic fish, whose motion is generated by an improved central pattern generator (CPG) and equipped with a six-axis inertial measurement unit for real-time swimming direction. Quantitative comparisons in tank experiments validate the effectiveness of the proposed method.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
Biomimetics
Biomimetics Biochemistry, Genetics and Molecular Biology-Biotechnology
CiteScore
3.50
自引率
11.10%
发文量
189
审稿时长
11 weeks
期刊最新文献
Brain-Inspired Architecture for Spiking Neural Networks. Explorative Binary Gray Wolf Optimizer with Quadratic Interpolation for Feature Selection. Path Planning of an Unmanned Aerial Vehicle Based on a Multi-Strategy Improved Pelican Optimization Algorithm. Performance Comparison of Bio-Inspired Algorithms for Optimizing an ANN-Based MPPT Forecast for PV Systems. Clinical Applications of Micro/Nanobubble Technology in Neurological Diseases.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1