A waypoint-tracking controller for a bionic autonomous underwater vehicle with two pectoralbelow反义词
fins
脱产成人教育期刊名称： Advanced Robotics
weakness
仁爱英语网作者： Bi, Shusheng,Niu, Chuanmeng,Cai, Yueri,Zhang, Lige,Zhang, Houxiang
ntyc年份： 2014年
期号： 第10期slide over
关键词： AUVs; biomimetic; pectoral foil; fuzzy control; underwater vehicles
摘要：This study aims to develop a waypoint-tracking control system for a biomimetic underwater vehicle (BUV). The BUV is propelled by wide paired pectoral foils, and each pectoral foil is driven by three independent fin rays. To simplify the control strategy, the maximum flapping amplitude of the pectoral fin is ud to control the forward velocity, and a turning factor is defined for the manoeuvre control. Several swimming experiments are carried out to investigate the influence
bugzilla
混蛋英语
safehouof the control parameters on the swimming performance of the prototype. Bad on the results of the swimming experiments, a waypoint-tracking control system is propod, which contains two layers: the velocity control layer and the heading angle control layer. A subdivision control method is adopted by the velocity control layer to get the maximum
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