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.
基金
supported in part by the National Natural Science Foundation of China under Grant 61703305,in part by the National High Tech
Research and Development Program(863 Program)of China under Grant 2015AA043202
in part by the Japan Society for the Promotion of Science(SPS)KAKENHI under Grant 15K2120
in part by the Key Research Program of the Natural Science Foundation of Tianjin under Grant 18JCZDJC38500
in part by the Innovative Cooperation Project of Tianjin Scientific and Technological Support under Grant 18PTZWHZ00090
in part by the China Scholarship Council(CSC)for his doctoral research at Kagawa University under Grant 202208050040.
