Parallel control and management system for biomimetic robotic fish based on ACP approach
Liu, Jincun; Wu, Zhengxing; Yang, Xiang; Yu, Junzhi
2016
会议名称12th World Congress on Intelligent Control and Automation, WCICA 2016
会议录名称World Congress on Intelligent Control and Automation (WCICA)
会议日期June 12, 2016 - June 15, 2016
会议地点Guilin, China
摘要This paper deals with the management and control of a biomimetic robotic fish within a control framework of artificial systems, computational experiments, and parallel execution (ACP). Without the need of precise hydrodynamic modeling and control implementation, we firstly built a functionally equivalent artificial robotic fish by using the Agent technology. When performing a specific task, network-stored control strategies and environment models can be downloaded for computing, testing, and optimizing purposes. By parallel execution, the optimal algorithm can be transferred to the physical robotic fish, where error feedback signals serve to seek the optimal solution in the network. Furthermore, the optimized control strategies, environment models, as well as the newly learned knowledge will be uploaded to the network after accomplishing the mission. At last, we demonstrate this ACP-centered control method through pushball experiment on robotic fish.
关键词Acp-centered Control Method Biomimetic Robotic Fish Acp Approach Management System Parallel Control System Artificial Systems Functionally Equivalent Artificial Robotic Fish Agent Technology Network-stored Control Strategies Error Feedback Signals
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13030
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State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
推荐引用方式
GB/T 7714
Liu, Jincun,Wu, Zhengxing,Yang, Xiang,et al. Parallel control and management system for biomimetic robotic fish based on ACP approach[C],2016.
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