Design of a camera stabilizer system for robotic fish based on feedback-feedforward control

	Design of a camera stabilizer system for robotic fish based on feedback-feedforward control
	Yang, Xiang; Wu, Zhengxing; Liu, Jincun; Yu, Junzhi; Zhengxing Wu
	2016
会议名称	35th Chinese Control Conference, CCC 2016
会议录名称	Chinese Control Conference, CCC
会议日期	July 27, 2016 - July 29, 2016
会议地点	Chengdu, China
摘要	This paper presents a novel approach for a visual system of robotic fish to reduce the instability of camera image caused by the inherent periodic yawing of the fish head. In order to acquire the stable image from the camera located inside of the fish head, a camera stabilizer for the visual system is designed. Meanwhile, an Inertial Measurement Unit (IMU) with nine degrees-of-freedom (DoFs) is employed to maintain the attitude of the camera stable with respect to the inertial frame. To accurately describe the stabilizer system characteristics, a simple and effective system model is built. Moreover, a feedback-feedforward controller is proposed to mitigate the periodic swing effect and obtain stable and clear camera image when the robotic fish is swimming. Finally, the simulation and experiments both verified the effectiveness of the mechanism design for camera stabilizerand the corresponding feedback-feedforward control approach for enhancing the stability of images.
关键词	Underwater Robot Robotic Fish Camera Stabilizer Feedback-feedforward Controller Underwater Vision
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13031
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Zhengxing Wu
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	Yang, Xiang,Wu, Zhengxing,Liu, Jincun,et al. Design of a camera stabilizer system for robotic fish based on feedback-feedforward control[C],2016.

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