CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Basic motion control of a free-swimming biomimetic robot fish
Yu, Junzhi; Wang, Shuo; Tan, Min
2003
Conference Name42nd IEEE Conference on Decision and Control
Conference DateDec. 9, 2003 - Dec. 12, 2003
Conference PlaceMaui, HI, United states
AbstractWe develop a practical motion control strategy for a radio-controlled, 4-link and free-swimming biomimetic robot fish that uses a flexible posterior body and an oscillating foil as propulser. Because motion control of robot fish involves hydrodynamics of the fluid medium and dynamics of the robot, it is hard to establish a mathematic model employing purely analytical methods. The fish's motion control task, based on control performance of the fish, is decomposed into on-line speed control and orientation control. The speed control algorithm is then implemented by using step control, and orientation control is realized by fuzzy logic. Combining with step control and fuzzy control, a point-to-point control algorithm is implemented and applied to the closed-loop experimental system that using a vision-based position sensing subsystem to provide feedback. The running experiments confirm the reliability and effectiveness of the presented algorithms.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13076
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, Junzhi
AffiliationLab. of Complex Syst./Intell. Sci., Institute of Automation, Chinese Academy Sciences, P. O. Box 2728, Beijing 100080, China
Recommended Citation
GB/T 7714
Yu, Junzhi,Wang, Shuo,Tan, Min. Basic motion control of a free-swimming biomimetic robot fish[C],2003.
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