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Depth Control of a Bioinspired Robotic Dolphin Based on Sliding-Mode Fuzzy Control Method
Yu, Junzhi1,2; Liu, Jincun1,3; Wu, Zhengxing1; Fang, Hao2
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
2018-03-01
Volume65Issue:3Pages:2429-2438
SubtypeArticle
AbstractThis 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.
KeywordBioinspired Robotic Dolphin Depth Control Fuzzy Logic Sliding-mode Control (Smc)
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TIE.2017.2745451
WOS KeywordAUTONOMOUS UNDERWATER VEHICLE ; TRACKING CONTROL ; FISH ; ATTITUDE
Indexed BySCI
Language英语
Funding OrganizationNational 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 Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000418643200050
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21926
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.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
First Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
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.
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