Study on motion control algorithms for a free-swimming biomimetic robot fish
Yu, Junzhi1; Chen, Erkui2; Wang, Shuo1; Tan, Min1
2003
会议名称Proc. IEEE International Symposium on Intelligent Control
会议日期Oct. 5–8, 2003
会议地点Texas, USA
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 environment and dynamics of the robot, it is very difficult 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 utilizing 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/173211/13077
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yu, Junzhi
作者单位1. Lab. for Complex Syst./Intell. Sci., Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China
2. College of Information and Electrics, China Univ. of Mining and Technology, Xuzhou 221008, China
推荐引用方式
GB/T 7714
Yu, Junzhi,Chen, Erkui,Wang, Shuo,et al. Study on motion control algorithms for a free-swimming biomimetic robot fish[C],2003.
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