Depth Control of a Bioinspired Robotic Dolphin Based on Sliding-Mode Fuzzy Control Method
Yu, Junzhi1,2; Liu, Jincun1,3; Wu, Zhengxing1; Fang, Hao2
2018-03-01
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷号65期号:3页码:2429-2438
文章类型Article
摘要This paper presents a hybrid controller that combines sliding-mode control (SMC) with a fuzzy strategy to regulate the vertical displacement of a bioinspired robotic dolphin. The structure of the robot and a simplified mathematical model for depth control are described. An SMC based on the line-of-sight guidance law and the slidingmode observer is developed to overcome systematic uncertainties and environmental disturbances. The Lyapunov stability theory is utilized to analyze the stability and convergence properties of the closed-loop system. Depth control in the physical robot is realized by utilizing a fuzzy logic controller, which is represented as the mapping of the input propulsion forces/ moments and output control parameters. Numerical and experimental results show that the proposed control strategy successfully steers the robot toward and along the desired depth.
关键词Bioinspired Robotic Dolphin Depth Control Fuzzy Logic Sliding-mode Control (Smc)
WOS标题词Science & Technology ; Technology
DOI10.1109/TIE.2017.2745451
关键词[WOS]AUTONOMOUS UNDERWATER VEHICLE ; TRACKING CONTROL ; FISH ; ATTITUDE
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61633020 ; Beijing Natural Science Foundation(4164103 ; National Defense Science and Technology Innovation Fund of the Chinese Academy of Sciences(CXJJ-16M110) ; Beijing Advanced Innovation Center for Intelligent Robots and Systems(2016IRS02) ; 61633017 ; 4161002) ; 61603388 ; 61633004)
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号WOS:000418643200050
引用统计
被引频次:3[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/21926
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1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Beijing 100081, Peoples R China
3.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
推荐引用方式
GB/T 7714
Yu, Junzhi,Liu, Jincun,Wu, Zhengxing,et al. Depth Control of a Bioinspired Robotic Dolphin Based on Sliding-Mode Fuzzy Control Method[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2018,65(3):2429-2438.
APA Yu, Junzhi,Liu, Jincun,Wu, Zhengxing,&Fang, Hao.(2018).Depth Control of a Bioinspired Robotic Dolphin Based on Sliding-Mode Fuzzy Control Method.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,65(3),2429-2438.
MLA Yu, Junzhi,et al."Depth Control of a Bioinspired Robotic Dolphin Based on Sliding-Mode Fuzzy Control Method".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 65.3(2018):2429-2438.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Yu, Junzhi]的文章
[Liu, Jincun]的文章
[Wu, Zhengxing]的文章
百度学术
百度学术中相似的文章
[Yu, Junzhi]的文章
[Liu, Jincun]的文章
[Wu, Zhengxing]的文章
必应学术
必应学术中相似的文章
[Yu, Junzhi]的文章
[Liu, Jincun]的文章
[Wu, Zhengxing]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。