Back-propagation neural network based predictive control for biomimetic robotic fish

	Back-propagation neural network based predictive control for biomimetic robotic fish
	Wang, Ming 1,2; Yu, Junzhi1 ; Tan, Min1 ; Yang, Qinghai 1; Wang Ming
	2008
会议名称	27th Chinese Control Conference, CCC
会议录名称	Chinese Control Conference, CCC
会议日期	July 16, 2008 - July 18, 2008
会议地点	Kunming, Yunnan, China
摘要	This paper presents a practical swimming data prediction method for a free-swimming, three-link robotic fish. Since a full hydrodynamic model for fish swimming is very complex and intractable, the primitive swimming data generated by a Central Pattern Generator controller is fed into a Back-Propagation Neural Network (BPNN) for trimming. After the process of training, the BPNN is able to predict the actual swimming data for various swimming patterns without dynamic modeling. Preliminary simulation and experimental results on swimming control show the effectiveness of the proposed prediction method as well as its potential for other flexible link-based robots.
关键词	Biomimetic Robotic Fish Central Pattern Generator Back-propagation Neural Network Predictive Control Motion Control
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13061
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Wang Ming
作者单位	1. Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2. School of Information and Electric Engineering, Shandong Jianzhu University, Jinan 250101, China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Wang, Ming,Yu, Junzhi,Tan, Min,et al. Back-propagation neural network based predictive control for biomimetic robotic fish[C],2008.