Guangjie Zhang, Weisheng Yan, Rongxin Cui, Feiyu Ma
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引用次数: 0
Abstract
To address the tracking problem of the hybrid-driven underwater legged robot, a control strategy is proposed that decomposes the whole tracking control system into two subsystems: body-level and actuator-level. The body-level subsystem uses a central pattern generator (CPG)-based controller to plan suitable gaits to meet the required heading and the forward velocity, crucial for accurate tracking in underwater environments. The actuators-level subsystem employs a cooperative approach between the C-shaped legs and thrusters of the robot. To execute the intended gait while adhering to actuation constraints and the no-slip requirement, the torques of the legs are calculated by a model predictive control and feedback compensation (MPCF)-based controller. Simultaneously, the calculation of the thrusters concerns four aspects to keep the legs attached to the ground and maintain the stable locomotion of the robot. Simulations on the ROS-Gazebo platform verify the mobility of the robot and demonstrate the effectiveness of the proposed CPG-MPCF strategy.
期刊介绍:
IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces.
Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed.
Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.