CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Fault-Tolerant Control of a CPG-Governed Robotic Fish
Yang, Yueqi1,2; Wang, Jian1,2; Wu, Zhengxing1; Yu, Junzhi1
Source PublicationEngineering
2018
Issue6Pages:861-868
Abstract

Fault tolerance is essential for the maneuverability of self-propelled biomimetic robotic fish in real-world aquatic applications.This paper explores the fault-tolerance control problem of a free-swimming robotic fish with multiple moving joints and a stuck tail joint.The created control system is composed of two main components:a feedback controller and a feedforward compensator.Specifically,the bio-inspired central pattern generator-based feedback controller is designed to make the robotic fish robust to external disturbances,while the feedforward compensator speeds up the convergence of the overall control system.Simulations are performed for control system analysis and performance validation of the faulty robotic fish.The experimental results demonstrate that the proposed fault-tolerant control method is able to effectively regulate the faulty robotic fish,allowing it to complete the desired motion in the presence of damage and thereby improving both the stability and the lifetime of the real robotic system.

KeywordFault-tolerant Control Robotic Fish Motion Control Feedback Controller Feedforward Compensator
DOIhttps://doi.org/10.1016/j.eng.2018.09.011
Indexed BySCI
Language英语
WOS IDWOS:000453056200016
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23936
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100049, China
2.University of the Chinese Academy of Sciences, Beijing 100049, China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Yang, Yueqi,Wang, Jian,Wu, Zhengxing,et al. Fault-Tolerant Control of a CPG-Governed Robotic Fish[J]. Engineering,2018(6):861-868.
APA Yang, Yueqi,Wang, Jian,Wu, Zhengxing,&Yu, Junzhi.(2018).Fault-Tolerant Control of a CPG-Governed Robotic Fish.Engineering(6),861-868.
MLA Yang, Yueqi,et al."Fault-Tolerant Control of a CPG-Governed Robotic Fish".Engineering .6(2018):861-868.
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