Knowledge Commons of Institute of Automation,CAS
Basic motion control of a free-swimming biomimetic robot fish | |
Yu, Junzhi; Wang, Shuo; Tan, Min | |
2003 | |
会议名称 | 42nd IEEE Conference on Decision and Control |
会议日期 | Dec. 9, 2003 - Dec. 12, 2003 |
会议地点 | Maui, HI, United states |
摘要 | We 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. |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/13076 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Yu, Junzhi |
作者单位 | Lab. of Complex Syst./Intell. Sci., Institute of Automation, Chinese Academy Sciences, P. O. Box 2728, Beijing 100080, China |
推荐引用方式 GB/T 7714 | Yu, Junzhi,Wang, Shuo,Tan, Min. Basic motion control of a free-swimming biomimetic robot fish[C],2003. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
01272783.pdf(510KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 |
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