Authors: Wang, R; Wang, S; Wang, Y; Cai, MX; Tan, M
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Published: NOV 2019
Document type: Article
This paper aims to investigate the method of autonomous hovering control for the biomimetic underwater robot named RobCutt-II. First, a modular configuration for mimicry of undulatory propulsion is presented, followed by a coordinated control of dual fins for enhancing the maneuverability and stability of the RobCutt-II. Then the vision-based hovering problem is formulated. A dual-loop hovering control framework integrating an image processing module, a tracking differentiator, a hovering controller, a velocity controller, and a fuzzy-based control allocation module is proposed to govern the locomotion of the RobCutt-II. Finally, simulations and experimental results demonstrate the effectiveness of the proposed mechanical design and control methods.