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• W4220702979 startingPage "4204" @default.
• W4220702979 abstract "This article proposes a novel barrier-based adaptive line-of-sight (ALOS) three-dimensional (3-D) path-following system for an underactuated multijoint robotic fish. The framework of the developed path-following system is established based on a detailed dynamic model, including a barrier-based ALOS guidance strategy, three integrated inner-loop controllers, and a nonlinear disturbance observer (NDOB)-based sideslip angle compensation, which is employed to preserve a reliable tracking under a frequently varying sideslip angle of the robotic fish. First, a barrier-based convergence strategy is proposed to deal with probable along-track error disruption and suppress the error within a manageable range. Meanwhile, an improved adaptive guidance scheme is adopted with an appropriate look-ahead distance. Afterward, a novel NDOB-based sideslip angle compensation is put forward to identify the varying sideslip angle independent of speed estimation. Subsequently, inner-loop controllers are intended for regulation about the controlled references, including a super-twisting sliding-mode control (STSMC)-based speed controller, a global fast terminal sliding-mode control (GFTSMC)-based heading controller, and a GFTSMC-based depth controller. Finally, simulations and experiments with quantitative comparison in 3-D linear and helical path following are presented to verify the effectiveness and robustness of the proposed system. This path-following system provides a solid foundation for future marine autonomous cruising of the underwater multijoint robot." @default.
• W4220702979 created "2022-04-03" @default.
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• W4220702979 date "2023-07-01" @default.
• W4220702979 modified "2023-10-16" @default.
• W4220702979 title "Barrier-Based Adaptive Line-of-Sight 3-D Path-Following System for a Multijoint Robotic Fish With Sideslip Compensation" @default.
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• W4220702979 doi "https://doi.org/10.1109/tcyb.2022.3155761" @default.
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• W4220702979 hasPublicationYear "2023" @default.
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