Heading Control for a Robotic Dolphin Based on a Self-tuning Fuzzy Strategy
Cao, Zhiqiang1; Shen, Fei2; Zhou, Chao1; Gu, Nong3; Nahavandi, Saeid3; Xu, De2
2016-02-16
发表期刊INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
卷号2016期号:13页码:1-8
文章类型Article
摘要In this paper, a heading controller based on a self-tuning fuzzy strategy for a robotic dolphin is proposed to improve control accuracy and stability. The structure of the robotic dolphin is introduced and the turning motion is analysed. The analytic model indicates that the turning joint angle can be employed for the heading control. This non-linear model prevents the successful application of traditional model-based controllers. A fuzzy controller is proposed to realize the heading control in our work. It should be mentioned that the traditional fuzzy controller suffers from a distinguished steady-state error, due to the fact that the heading range is relatively large and the fuzzy controller's universe of discourse is fixed. To resolve this problem, a self-tuning mechanism is employed to adjust the input and output scaling factors according to the active working region in pursuit of favourable performance. Experimental results demonstrate the performance of the proposed controller in terms of steady-state error and robustness to interferences.
关键词Robotic Dolphin Heading Control Turning Motion Self-tuning Fuzzy Control
WOS标题词Science & Technology ; Technology
DOI10.5772/62289
关键词[WOS]FISH ROBOT ; DESIGN ; IMPLEMENTATION ; TRACKING ; FINS
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61421004 ; Beijing Natural Science Foundation(4152054) ; 61473295)
WOS研究方向Robotics
WOS类目Robotics
WOS记录号WOS:000370656500001
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/10993
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
2.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing, Peoples R China
3.Deakin Univ, Ctr Intelligent Syst Res, Geelong, Vic 3217, Australia
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Cao, Zhiqiang,Shen, Fei,Zhou, Chao,et al. Heading Control for a Robotic Dolphin Based on a Self-tuning Fuzzy Strategy[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016,2016(13):1-8.
APA Cao, Zhiqiang,Shen, Fei,Zhou, Chao,Gu, Nong,Nahavandi, Saeid,&Xu, De.(2016).Heading Control for a Robotic Dolphin Based on a Self-tuning Fuzzy Strategy.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016(13),1-8.
MLA Cao, Zhiqiang,et al."Heading Control for a Robotic Dolphin Based on a Self-tuning Fuzzy Strategy".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2016.13(2016):1-8.
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