Data-Driven Dynamic Modeling for a Swimming Robotic Fish
Yu, Junzhi; Yuan, Jun; Wu, Zhengxing; Tan, Min
2016
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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
DOI10.1109/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
专题复杂系统管理与控制国家重点实验室_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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