Nonlinear tracking control of a nonholonomic fish robot in chained form

Erfu Yang, T. Ikeda, Tsutomu Mita

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

Abstract

The nonlinear tracking control of a nonholonomic fish robot in chained form is addressed. First, a time-varying, smooth Lyapunov-based feedback control law for tracking the nonholonomic fish robot is presented, which gives asymptotical convergence to a desired trajectory generated by a reference fish robot. Second, a time-varying feedback control law with asymptotic stability is achieved to dynamically moor the fish robot to a desired docking position by using the currently popular integrator backstepping method. Simulation results for nonlinear tracking and dynamic mooring control are provided to demonstrate the effectiveness of the proposed control laws.
Original languageEnglish
Title of host publicationProceedings of the SICE 2003 Annual Conference
PublisherIEEE
Pages1260 - 1265
Number of pages6
Volume2
ISBN (Print)0-7803-8352-4
Publication statusPublished - Aug 2003
EventSICE 2003 Annual Conference - Fukui, Japan
Duration: 4 Aug 20036 Aug 2003

Conference

ConferenceSICE 2003 Annual Conference
CountryJapan
CityFukui
Period4/08/036/08/03

Keywords

  • nonlinear tracking control
  • nonholonomic constraints
  • chained systems
  • time varying control
  • integrator back stepping
  • fish robot

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  • Cite this

    Yang, E., Ikeda, T., & Mita, T. (2003). Nonlinear tracking control of a nonholonomic fish robot in chained form. In Proceedings of the SICE 2003 Annual Conference (Vol. 2, pp. 1260 - 1265). IEEE.