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Depth Control of a Bioinspired Robotic Dolphin Based on Sliding-Mode Fuzzy Control Method | |
Yu JZ(喻俊志)1; Liu JC(刘金存)1,2; Wu ZX(吴正兴)1; Fang H(方浩)3 | |
发表期刊 | IEEE Transactions on Industrial Electronics |
2018-03-01 | |
卷号 | 65期号:3页码:2429-2438 |
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 sliding mode 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) |
收录类别 | SCI |
语种 | 英语 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/22354 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Wu ZX(吴正兴) |
作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学 3.北京理工大学 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Yu JZ,Liu JC,Wu ZX,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 JZ,Liu JC,Wu ZX,&Fang H.(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 JZ,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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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Depth Control of a B(1030KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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