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 Speed Control of a Biomimetic Multijoint Robotic Fish
Yang, Yueqi1,2; Wu, Zhengxing1; Yu, Junzhi1
2018-12
Conference Name2018 IEEE 8th International Conference on Underwater System Technology
Conference Date2018-12-1
Conference PlaceWuhan, China
Abstract

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.

Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23938
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, Junzhi
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
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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