A Bio-Inspired Robot With Undulatory Fins and Its Control Methods
Wang, Shuo; Wang, Yu; Wei, Qingping; Tan, Min; Yu, Junzhi
2017-02-01
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷号22期号:1页码:206-216
文章类型Article
摘要This paper proposes a bio-inspired robot with undulatory fins and summarizes its control methods. First, three basic motions, forward/backward swimming, diving/rising motion, and turning, are implemented and evaluated by experiments. Next, a hybrid control that combines active disturbance rejection control with a fuzzy strategy is presented to achieve closed-loop depth and course control according to the evaluation of the three basic motions. Finally, waypoint tracking with a line-of-sight guidance system based on a finite-state machine for this bio-inspired robot is presented. The results of swimming experiments are provided to illustrate the validity of the proposed methods.
关键词Bio-inspired Robot Course Control Depth Control Waypoint Tracking
WOS标题词Science & Technology ; Technology
DOI10.1109/TMECH.2016.2622761
关键词[WOS]FISH ; DESIGN ; PERFORMANCE ; LOCOMOTION
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(51175496 ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China(61421004) ; Beijing Natural Science Foundation(3141002) ; 61233014 ; 61333016)
WOS研究方向Automation & Control Systems ; Engineering
WOS类目Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号WOS:000395750100022
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/14395
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
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Wang, Shuo,Wang, Yu,Wei, Qingping,et al. A Bio-Inspired Robot With Undulatory Fins and Its Control Methods[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2017,22(1):206-216.
APA Wang, Shuo,Wang, Yu,Wei, Qingping,Tan, Min,&Yu, Junzhi.(2017).A Bio-Inspired Robot With Undulatory Fins and Its Control Methods.IEEE-ASME TRANSACTIONS ON MECHATRONICS,22(1),206-216.
MLA Wang, Shuo,et al."A Bio-Inspired Robot With Undulatory Fins and Its Control Methods".IEEE-ASME TRANSACTIONS ON MECHATRONICS 22.1(2017):206-216.
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