Knowledge Commons of Institute of Automation,CAS
Fault-Tolerant Speed Control of a Biomimetic Multijoint Robotic Fish | |
Yang, Yueqi1,2; Wu, Zhengxing1; Yu, Junzhi1 | |
2018-12 | |
会议名称 | 2018 IEEE 8th International Conference on Underwater System Technology |
会议日期 | 2018-12-1 |
会议地点 | Wuhan, China |
摘要 | Fault tolerance is critical to the real applications of underwater robots in complex underwater environments. In this paper, a biomimetic robotic fish with a stuck tail joint is used as the control object, and the fault-tolerant control method is proposed to control the faulty robotic fish to reach the specified speed. Specifically, based on the yaw fault-tolerant control, we firstly analyze the coupling problem between the control parameters of the robotic fish and design the feedback controller based on the central pattern generator model. In order to solve the problem that the feedback controller converges slowly, a multi-layer perceptron-based feedforward controller is proposed. Simulation experiments are designed to test the performance and effectiveness of the control system. Simulation results reveal that the proposed fault-tolerant control method is able to realize the speed control of faulty robotic fish while maintaining the yaw state stability. |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/23938 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Yu, Junzhi |
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 |
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 | Yang, Yueqi,Wu, Zhengxing,Yu, Junzhi. Fault-Tolerant Speed Control of a Biomimetic Multijoint Robotic Fish[C],2018. |
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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 | ||
Fault-speed-R1.pdf(859KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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