CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Motion control algorithms for a free-swimming biomimetic robot fish
Yu, Jun-Zhi1,2; Chen, Er-Kui; Wang, Shuo2; Tan, Min2; Yu, Junzhi
Source PublicationActa Automatica Sinica
2005
Volume31Issue:4Pages:537–542
AbstractA practical motion control strategy for a radio-controlled, 4-link and free-swimming biomimetic robot fish is presented. Based on control performance of the fish the fish's motion control task is decomposed into on-line speed control and orientation control. The speed control algorithm is implemented by using piecewise control, and orientation control is realized by fuzzy logic. Combining with step control and fuzzy control, a point-to-point (PTP) control algorithm is proposed and applied to the closed-loop experimental system that uses a vision-based position sensing subsystem to provide feedback. Experiments confirm the reliability and effectiveness of the presented algorithms.
KeywordBiomimetic Robot Fish Motion Control Point-to-point (Ptp) Control
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13107
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
Affiliation1. Center for Systems and Control, Peking University, Beijing 100871, China.(2)Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China
2. School of Communication and Control Engineering, Southern Yangtze University, Wuxi 214036, China
Recommended Citation
GB/T 7714
Yu, Jun-Zhi,Chen, Er-Kui,Wang, Shuo,et al. Motion control algorithms for a free-swimming biomimetic robot fish[J]. Acta Automatica Sinica,2005,31(4):537–542.
APA Yu, Jun-Zhi,Chen, Er-Kui,Wang, Shuo,Tan, Min,&Yu, Junzhi.(2005).Motion control algorithms for a free-swimming biomimetic robot fish.Acta Automatica Sinica,31(4),537–542.
MLA Yu, Jun-Zhi,et al."Motion control algorithms for a free-swimming biomimetic robot fish".Acta Automatica Sinica 31.4(2005):537–542.
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