Knowledge Commons of Institute of Automation，CAS
| Data-Driven Dynamic Modeling for a Swimming Robotic Fish | |
Yu, Junzhi ; Yuan, Jun; Wu, Zhengxing; Tan, Min
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| 发表期刊 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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| 2016 | |
| 卷号 | 63期号:9页码:5632-5640 |
| 摘要 | This paper proposes a data-driven dynamic modeling method for multijoint robotic fish with irregular geometric profiles and numerous heterogeneous hydrodynamic parameters. The method is composed of two main components: dynamic modeling and hydrodynamic parameter identification. In dynamicmodeling, fluid forces exerted on the robotic fish are analyzed by the Morrison equation and the strip method. A dynamic model with an explicit formulation is derived, in which all terms involved in the dynamic analysis are converted to the coordinate system attached to the head. Further, the parameter identification technique is integrated into dynamic modeling, which reshapes it with data-driven feature and thereby makes it be competent to model swimming robots with complex geometric profiles and numerous heterogeneous hydrodynamic parameters. Experimental data of the swimming robotic fish are collected to identify the parameters directly. The obtained dynamic model is validated by data captured under extensive motion modes like forward swimming, varying velocity, and turning. Comparisons of simulated and experimental results demonstrate the effectiveness of the method. |
| 关键词 | Hydrodynamic Analysis Modeling And Control Parameter Identification |
| DOI | 10.1109/TIE.2016.2564338 |
| 引用统计 | |
| 文献类型 | 期刊论文 |
| 条目标识符 | http://ir.ia.ac.cn/handle/173211/19956 |
| 专题 | 复杂系统认知与决策实验室_先进机器人 |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Yuan, Jun,Wu, Zhengxing,et al. Data-Driven Dynamic Modeling for a Swimming Robotic Fish[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2016,63(9):5632-5640. |
| APA | Yu, Junzhi,Yuan, Jun,Wu, Zhengxing,&Tan, Min.(2016).Data-Driven Dynamic Modeling for a Swimming Robotic Fish.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,63(9),5632-5640. |
| MLA | Yu, Junzhi,et al."Data-Driven Dynamic Modeling for a Swimming Robotic Fish".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 63.9(2016):5632-5640. |
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| 文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
| 76-Data-Driven Dynam（910KB） | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 | |
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