Vector Field Path Following of Time-Varying Sinusoidal Paths for Underwater Snake Robots

IF 4.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-04-29 DOI:10.1109/TCST.2026.3677852

Ivan Gushkov;Amer Orucevic;Kristin Y. Pettersen;Weijia Yao;Marianna Wrzos-Kaminska;Jan Tommy Gravdahl

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Abstract

In this article, a guiding vector field (GVF) approach is applied to solve the path-following problem of a time-varying sinusoidal path for an underwater snake robot (USR). The time-varying path-following application is motivated from one of the promising use cases for USRs: underwater exploration and energy autonomy. We present a Lyapunov design method for GVFs, which accounts for the time-varying nature of the path. The GVF is formally shown to make the path-following error dynamics uniform semiglobal exponential stable (USGES). A sliding mode velocity controller for the USR is designed, and the path-following error dynamics for the normalized GVF are analyzed through cascaded systems theory. The cascade is shown to be globally uniformly asymptotically stable (GUAS) when perturbed by a uniformly bounded interconnection term which vanishes with the heading error. Results from a simulation study in a high fidelity computational fluid dynamics (CFDs) simulator are presented, validating the design approach.

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水下蛇形机器人时变正弦路径的矢量场路径跟踪

本文应用引导向量场（GVF）方法解决了水下蛇形机器人时变正弦路径的路径跟踪问题。时变路径跟踪应用程序的动机来自usr的一个有前途的用例：水下勘探和能源自主。我们提出了一种考虑路径时变特性的GVFs Lyapunov设计方法。正式证明了GVF能使路径跟踪误差动力学一致半全局指数稳定。设计了USR的滑模速度控制器，并利用级联系统理论分析了归一化GVF的路径跟踪误差动力学。当受到一致有界互连项的扰动时，该级联是全局一致渐近稳定的（GUAS），该互连项随航向误差而消失。给出了高保真计算流体动力学（cfd）模拟器的仿真研究结果，验证了设计方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Control Systems Technology 工程技术-工程：电子与电气

CiteScore

10.70

自引率

2.10%

发文量

218

审稿时长

6.7 months

期刊介绍： The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.