Backstepping-based hybrid target tracking control for a carangiform robotic fish

Songlin Chen; Jianxun Wang; Xiaobo Tan

doi:10.1115/DSCC2013-3963

Backstepping-based hybrid target tracking control for a carangiform robotic fish

Songlin Chen
, Jianxun Wang^*
, Xiaobo Tan

^*Corresponding author for this work

School of Astronautics

Michigan State University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

In this paper we apply backstepping technique to develop a novel hybrid target-tracking control scheme for a carangiform robotic fish, based on a dynamic model that combines rigid-body dynamics with Lighthill's large-amplitude elongated-body theory. This hybrid controller consists of an open-loop turning controller and a closed-loop approaching controller. A hysteretic switching strategy based on the orientation error is designed. Using Lyapunov analysis, we show that the trajectory of the robotic fish will converge to the target point. The effectiveness of the proposed control strategy is demonstrated through both simulations and experiments.

Original language	English
Title of host publication	Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems;
Publisher	American Society of Mechanical Engineers (ASME)
ISBN (Print)	9780791856130
DOIs	https://doi.org/10.1115/DSCC2013-3963
State	Published - 2013
Event	ASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States Duration: 21 Oct 2013 → 23 Oct 2013

Publication series

Name	ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Volume	2

Conference

Conference	ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Country/Territory	United States
City	Palo Alto, CA
Period	21/10/13 → 23/10/13

Access to Document

10.1115/DSCC2013-3963

Cite this

Chen, S., Wang, J., & Tan, X. (2013). Backstepping-based hybrid target tracking control for a carangiform robotic fish. In Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Article DSCC2013-3963 (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013; Vol. 2). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2013-3963

Chen, Songlin ; Wang, Jianxun ; Tan, Xiaobo. / Backstepping-based hybrid target tracking control for a carangiform robotic fish. Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems;. American Society of Mechanical Engineers (ASME), 2013. (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013).

@inproceedings{a7f17d7593e14203a166885994e5e80f,

title = "Backstepping-based hybrid target tracking control for a carangiform robotic fish",

abstract = "In this paper we apply backstepping technique to develop a novel hybrid target-tracking control scheme for a carangiform robotic fish, based on a dynamic model that combines rigid-body dynamics with Lighthill's large-amplitude elongated-body theory. This hybrid controller consists of an open-loop turning controller and a closed-loop approaching controller. A hysteretic switching strategy based on the orientation error is designed. Using Lyapunov analysis, we show that the trajectory of the robotic fish will converge to the target point. The effectiveness of the proposed control strategy is demonstrated through both simulations and experiments.",

author = "Songlin Chen and Jianxun Wang and Xiaobo Tan",

year = "2013",

doi = "10.1115/DSCC2013-3963",

language = "英语",

isbn = "9780791856130",

series = "ASME 2013 Dynamic Systems and Control Conference, DSCC 2013",

publisher = "American Society of Mechanical Engineers (ASME)",

booktitle = "Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems;",

address = "美国",

note = "ASME 2013 Dynamic Systems and Control Conference, DSCC 2013 ; Conference date: 21-10-2013 Through 23-10-2013",

}

Chen, S, Wang, J & Tan, X 2013, Backstepping-based hybrid target tracking control for a carangiform robotic fish. in Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems;., DSCC2013-3963, ASME 2013 Dynamic Systems and Control Conference, DSCC 2013, vol. 2, American Society of Mechanical Engineers (ASME), ASME 2013 Dynamic Systems and Control Conference, DSCC 2013, Palo Alto, CA, United States, 21/10/13. https://doi.org/10.1115/DSCC2013-3963

Backstepping-based hybrid target tracking control for a carangiform robotic fish. / Chen, Songlin; Wang, Jianxun; Tan, Xiaobo.
Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems;. American Society of Mechanical Engineers (ASME), 2013. DSCC2013-3963 (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Backstepping-based hybrid target tracking control for a carangiform robotic fish

AU - Chen, Songlin

AU - Wang, Jianxun

AU - Tan, Xiaobo

PY - 2013

Y1 - 2013

N2 - In this paper we apply backstepping technique to develop a novel hybrid target-tracking control scheme for a carangiform robotic fish, based on a dynamic model that combines rigid-body dynamics with Lighthill's large-amplitude elongated-body theory. This hybrid controller consists of an open-loop turning controller and a closed-loop approaching controller. A hysteretic switching strategy based on the orientation error is designed. Using Lyapunov analysis, we show that the trajectory of the robotic fish will converge to the target point. The effectiveness of the proposed control strategy is demonstrated through both simulations and experiments.

AB - In this paper we apply backstepping technique to develop a novel hybrid target-tracking control scheme for a carangiform robotic fish, based on a dynamic model that combines rigid-body dynamics with Lighthill's large-amplitude elongated-body theory. This hybrid controller consists of an open-loop turning controller and a closed-loop approaching controller. A hysteretic switching strategy based on the orientation error is designed. Using Lyapunov analysis, we show that the trajectory of the robotic fish will converge to the target point. The effectiveness of the proposed control strategy is demonstrated through both simulations and experiments.

UR - https://www.scopus.com/pages/publications/84902372894

U2 - 10.1115/DSCC2013-3963

DO - 10.1115/DSCC2013-3963

M3 - 会议稿件

AN - SCOPUS:84902372894

SN - 9780791856130

T3 - ASME 2013 Dynamic Systems and Control Conference, DSCC 2013

BT - Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems;

PB - American Society of Mechanical Engineers (ASME)

T2 - ASME 2013 Dynamic Systems and Control Conference, DSCC 2013

Y2 - 21 October 2013 through 23 October 2013

ER -

Chen S, Wang J, Tan X. Backstepping-based hybrid target tracking control for a carangiform robotic fish. In Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems;. American Society of Mechanical Engineers (ASME). 2013. DSCC2013-3963. (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013). doi: 10.1115/DSCC2013-3963

Backstepping-based hybrid target tracking control for a carangiform robotic fish

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