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Vector Field Path Following of Time-Varying Sinusoidal Paths for Underwater Snake Robots
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DOI：10.1109/TCST.2026.3677852.png)
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Abstract
En 中文
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.
Keywords:
Locomotion
stability of nonlinear systems
underwater vehicle control
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