Motion control algorithms for a free-swimming biomimetic robot fish
Yu, Jun-Zhi1,2; Chen, Er-Kui; Wang, Shuo2; Tan, Min2; Yu, Junzhi
2005
发表期刊Acta Automatica Sinica
卷号31期号:4页码:537–542
摘要A 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.
关键词Biomimetic Robot Fish Motion Control Point-to-point (Ptp) Control
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/13107
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. 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
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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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