Knowledge Commons of Institute of Automation,CAS
Fault-Tolerant Control of a CPG-Governed Robotic Fish | |
Yang, Yueqi1,2; Wang, Jian1,2; Wu, Zhengxing1; Yu, Junzhi1 | |
发表期刊 | Engineering |
2018 | |
期号 | 6页码:861-868 |
摘要 | 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. |
关键词 | Fault-tolerant Control Robotic Fish Motion Control Feedback Controller Feedforward Compensator |
DOI | https://doi.org/10.1016/j.eng.2018.09.011 |
收录类别 | SCI |
语种 | 英语 |
WOS记录号 | WOS:000453056200016 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/23936 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | 1.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 |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 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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Yangyueqi-Eng-18.pdf(1464KB) | 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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