Work

Finite-Time Line-of-Sight Guidance-Based Path-Following Control for a Wire-Driven Robot Fish

Year: 2024

Type: article

Abstract: 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.

Source: Biomimetics

DOI: 10.3390/biomimetics9090556

Authors: Yuyang Mo, Weiheng Su, Zicun Hong, Yunquan Li, Yong Zhong

Institution: South China University of Technology

Language: English

Topic: Biomimetic flight and propulsion mechanisms

Subfield: Aerospace Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,501

Funders: National Natural Science Foundation of China, Natural Science Foundation of Guangdong Province