Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots
Gushkov, Ivan Ivanov; Orucevic, Amer; Pettersen, Kristin Ytterstad; Yao, Weijia; Gravdahl, Jan Tommy
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Published version
Permanent lenke
https://hdl.handle.net/11250/3106609Utgivelsesdato
2023Metadata
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Originalversjon
10.1109/CCTA54093.2023.10252704Sammendrag
In this paper, a guiding vector field (GVF) approach is applied to solve the path-following problem of a static unbounded sinusoidal path for an underwater snake robot (USR) in the presence of constant irrotational currents. 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 with a complex USR model are presented, validating the design approach.