Journal of Bionic Engineering ›› 2023, Vol. 20 ›› Issue (1): 323-337.doi: 10.1007/s42235-022-00268-z
Tracking Control in Presence of Obstacles and Uncertainties for Bioinspired Spherical Underwater Robots
Chunying Li1; Shuxiang Guo1,2,3; Jian Guo3
- 1 Graduate School of Engineering, Kagawa University, Takamatsu, Kagawa 761-0396, Japan 2 Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, the Ministry of Industry and Information Technology, School of Life Science and Technology, Beijing Institute of Technology, Beijing 100081, China 3 Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory, Tianjin University of Technology, Binshui Xidao Extension 391, Tianjin 300384, China
Tracking Control in Presence of Obstacles and Uncertainties for Bioinspired Spherical Underwater Robots
Chunying Li1; Shuxiang Guo1,2,3; Jian Guo3
- 1 Graduate School of Engineering, Kagawa University, Takamatsu, Kagawa 761-0396, Japan 2 Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, the Ministry of Industry and Information Technology, School of Life Science and Technology, Beijing Institute of Technology, Beijing 100081, China 3 Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory, Tianjin University of Technology, Binshui Xidao Extension 391, Tianjin 300384, China
摘要： During marine missions, AUVs are susceptible to external disturbances, such as obstacles, ocean currents, etc., which can easily cause mission failure or disconnection. In this paper, considering the strong nonlinearities, external disturbances and obstacles, the kinematic and dynamic model of bioinspired Spherical Underwater Robot (SUR) was described. Subsequently, the waypoints-based trajectory tracking with obstacles and uncertainties was proposed for SUR to guarantee its safety and stability. Next, the Lyapunov theory was adopted to verify the stability and the Slide Mode Control (SMC) method is used to verify the robustness of the control system. In addition, a series of simulations were conducted to evaluate the effectiveness of proposed control strategy. Some tests, including path-following, static and moving obstacle avoidance were performed which verified the feasibility, robustness and effectiveness of the designed control scheme. Finally, a series of experiments in real environment were performed to verify the performance of the control strategy. The simulation and experimental results of the study supplied clues to the improvement of the path following capability and multi-obstacle avoidance of AUVs.