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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
Source PublicationIEEE Transactions on Industrial Electronics
2018-03-01
Volume65Issue:3Pages:2429-2438
Abstract

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.  

KeywordBioinspired robotic dolphin depth control fuzzy logic sliding-mode control (SMC)
Indexed BySCI
Language英语
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/22354
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWu ZX(吴正兴)
Affiliation1.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
First Author Affilication中国科学院自动化研究所
Corresponding Author Affilication中国科学院自动化研究所
Recommended Citation
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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