Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots

Ivan Gushkov; Amer Orucevic; Kristin Y. Pettersen; Weijia Yao; Jan Tommy Gravdahl

doi:10.1109/CCTA54093.2023.10252704

Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots

Ivan Gushkov^*, Amer Orucevic, Kristin Y. Pettersen, Weijia Yao, Jan Tommy Gravdahl

^*Corresponding author for this work

Discrete Technology and Production Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

1 Citation (Scopus)

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Abstract

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.

Original language	English
Title of host publication	2023 IEEE Conference on Control Technology and Applications, CCTA 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	878-885
Number of pages	8
ISBN (Electronic)	9798350335446
DOIs	https://doi.org/10.1109/CCTA54093.2023.10252704
Publication status	Published - 22-Sept-2023
Event	2023 IEEE Conference on Control Technology and Applications, CCTA 2023 - Bridgetown, Barbados Duration: 16-Aug-2023 → 18-Aug-2023

Publication series

Name	2023 IEEE Conference on Control Technology and Applications, CCTA 2023

Conference

Conference	2023 IEEE Conference on Control Technology and Applications, CCTA 2023
Country/Territory	Barbados
City	Bridgetown
Period	16/08/2023 → 18/08/2023

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10.1109/CCTA54093.2023.10252704

Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake RobotsFinal publisher's version, 1.82 MBLicence: Taverne

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Gushkov, I., Orucevic, A., Pettersen, K. Y., Yao, W., & Gravdahl, J. T. (2023). Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots. In 2023 IEEE Conference on Control Technology and Applications, CCTA 2023 (pp. 878-885). (2023 IEEE Conference on Control Technology and Applications, CCTA 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCTA54093.2023.10252704

@inproceedings{1bbb4958df174b96887611de7b4ca576,

title = "Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots",

abstract = "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.",

author = "Ivan Gushkov and Amer Orucevic and Pettersen, {Kristin Y.} and Weijia Yao and Gravdahl, {Jan Tommy}",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE Conference on Control Technology and Applications, CCTA 2023 ; Conference date: 16-08-2023 Through 18-08-2023",

year = "2023",

month = sep,

day = "22",

doi = "10.1109/CCTA54093.2023.10252704",

language = "English",

series = "2023 IEEE Conference on Control Technology and Applications, CCTA 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "878--885",

booktitle = "2023 IEEE Conference on Control Technology and Applications, CCTA 2023",

}

Gushkov, I, Orucevic, A, Pettersen, KY, Yao, W & Gravdahl, JT 2023, Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots. in 2023 IEEE Conference on Control Technology and Applications, CCTA 2023. 2023 IEEE Conference on Control Technology and Applications, CCTA 2023, Institute of Electrical and Electronics Engineers Inc., pp. 878-885, 2023 IEEE Conference on Control Technology and Applications, CCTA 2023, Bridgetown, Barbados, 16/08/2023. https://doi.org/10.1109/CCTA54093.2023.10252704

Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots. / Gushkov, Ivan; Orucevic, Amer; Pettersen, Kristin Y. et al.
2023 IEEE Conference on Control Technology and Applications, CCTA 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 878-885 (2023 IEEE Conference on Control Technology and Applications, CCTA 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots

AU - Gushkov, Ivan

AU - Orucevic, Amer

AU - Pettersen, Kristin Y.

AU - Yao, Weijia

AU - Gravdahl, Jan Tommy

PY - 2023/9/22

Y1 - 2023/9/22

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85173896901&partnerID=8YFLogxK

U2 - 10.1109/CCTA54093.2023.10252704

DO - 10.1109/CCTA54093.2023.10252704

M3 - Conference contribution

AN - SCOPUS:85173896901

T3 - 2023 IEEE Conference on Control Technology and Applications, CCTA 2023

SP - 878

EP - 885

BT - 2023 IEEE Conference on Control Technology and Applications, CCTA 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2023 IEEE Conference on Control Technology and Applications, CCTA 2023

Y2 - 16 August 2023 through 18 August 2023

ER -

Gushkov I, Orucevic A, Pettersen KY, Yao W, Gravdahl JT. Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots. In 2023 IEEE Conference on Control Technology and Applications, CCTA 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 878-885. (2023 IEEE Conference on Control Technology and Applications, CCTA 2023). doi: 10.1109/CCTA54093.2023.10252704

Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots

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