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Sliding mode fuzzy control-based path-following control for a dolphin robot
Liu JC(刘金存)1,2; Wu ZX(吴正兴)1; Yu JZ(喻俊志)1; Tan M(谭民)1
Source PublicationSCIENCE CHINA Information Sciences
2018-02-01
Issue61Pages:024201:1–024201:3
Abstract

This paper is to offer a sliding mode fuzzy control (SMFC) method for a dolphin robot to follow some paths in a horizontal plane. In order to describe the dolphin-like swimming, we first derive the dynamic model of the dolphin robot. Then, a line-of-sight (LOS) guidance law is presented to acquire the desired course angle, which relies on the absolute velocity to compensate for the effect of the sideslip angle. Thatafter, a sliding mode controller (SMC) method is constructed to overcome systematic uncertainties and environmental disturbances, and the asymptotic stability of the control scheme is investigated via the Lyapunov stability
theory. Furthermore, a fuzzy logic controller is employed to build the mapping relationship between the outputs from SMC and the actual control signals for the dolphin robot. Finally, both simulations and experiments are presented to validate the effectiveness of the proposed method.  

KeywordDolphin robot path-following sliding mode control
Indexed BySCI
Language英语
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/22356
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu JZ(喻俊志)
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
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
Liu JC,Wu ZX,Yu JZ,et al. Sliding mode fuzzy control-based path-following control for a dolphin robot[J]. SCIENCE CHINA Information Sciences,2018(61):024201:1–024201:3.
APA Liu JC,Wu ZX,Yu JZ,&Tan M.(2018).Sliding mode fuzzy control-based path-following control for a dolphin robot.SCIENCE CHINA Information Sciences(61),024201:1–024201:3.
MLA Liu JC,et al."Sliding mode fuzzy control-based path-following control for a dolphin robot".SCIENCE CHINA Information Sciences .61(2018):024201:1–024201:3.
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