Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin  

作　　者：Jincun LIU Zhenna LIU Junzhi YU 

机构地区：[1]Sstate Key Laboratory for Turbulence and Compler System,Department of Mechanics and Engineering Science,BIC-ESAT,College of Engineering,Peking University,Beijing 100871,Chirna [2]Department of Electrical and Automation,Shandong Labor Vocational and Technical College,Jinan 250022,China [3]State Key Laboratory of Management and Control for Compler Systems,Institute of Automation,Chimese Acadevrey of Scierces,Beijiag 100190,Chira

出　　处：《Science China(Information Sciences)》2021年第1期211-222,共12页中国科学（信息科学）（英文版）

基　　金：National Natural Science Foundation of China(Grant Nos.61903007,61633017,61633004,61725305,61973007,U1909206);Pre-research Fund of Equipment of China(Grant No.61402070304);Key Research and Development and Transformation Project of Qinghai Province(Grant No.2017-GX-103);Youth Innovation Science and Technology Plan of Shandong Province(Grant No.2019KJN015)。

摘　　要：This paper investigates the three-dimensional(3-D)path following control problem for an underactuated robotic dolphin.With a comprehensive consideration of the mechanical constraint and swimming principle of the robotic dolphin,a decoupling motion strategy is proposed to produce yaw and pitch maneuvers simultaneously.Then,kinematics and dynamics models for 3-D dolphin-like swimming are established,followed by simulations of the path following control.Furthermore,a novel lookahead based 3-D line-ofsight(LOS)guidance law is developed and implemented to obtain desired attitude angles with its simplicity,intuitiveness,and small computational footprint.Finally,simulation results illustrate the feasibility and effectiveness of the proposed path following control methods.

关 键 词：robotic dolphin path following 3-D LOS guidance law decoupling motion 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]