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Area of Science:

  • Robotics
  • Control Systems
  • Marine Engineering

Background:

  • Multi-robot coordination is crucial for underwater tasks.
  • Biomimetic Underwater Spherical Robots (BUSRs) require efficient formation control.
  • Existing methods often lack simplicity and robustness.

Purpose of the Study:

  • To develop a practical formation tracking controller for BUSRs.
  • To achieve a simple structure, few parameters, and strong anti-disturbance capabilities.
  • To enable easy engineering implementation and adaptation for BUSRs.

Main Methods:

  • Proposed a Virtual Structure (VS) integrated with Consensus protocol and Parallel Output-Velocity-type Active Disturbance Rejection Control (POV-ADRC).
  • Introduced a rotating global (RG) coordinate system to decouple position and heading.
  • Implemented a double-loop control architecture: outer consensus loop and inner POV-ADRC loop.

Main Results:

  • Achieved stable formation maintenance and trajectory tracking accuracy within one body length.
  • Demonstrated superior disturbance rejection capabilities.
  • Validated the controller's feasibility and practicality through simulations and experiments.

Conclusions:

  • The VS-C-POV-ADRC controller offers a practical solution for BUSR formation control.
  • The controller's compact design and few parameters suit BUSRs' limited capacity.
  • The method enhances coordination, tracking accuracy, and robustness in underwater environments.