Knowledge Commons of Institute of Automation,CAS
Motion modeling and neural networks based yaw control of a biomimetic robotic fish | |
Zhou, Chao; Hou, Zeng-Guang; Cao, Zhiqiang; Wang, Shuo; Tan, Min | |
发表期刊 | INFORMATION SCIENCES |
2013-07-10 | |
卷号 | 237页码:39-48 |
文章类型 | Article |
摘要 | This paper focuses on the modeling of undulation propulsion and a neural network (NN) yaw controller based on this model. First, because of the importance of the first link's oscillation in yaw control, a motion model of free swimming was built based on the Lagrangian function, and the coupled dynamic and kinematic functions were calculated based on the relation between the generalized force and the fluid force. Second, a neural network was trained through the data generated from this model to obtain a predictive yaw controller that could control the orientation by the different offsets of each link. Finally, simulations were conducted to demonstrate the performance of the controller. (c) 2011 Elsevier Inc. All rights reserved. |
关键词 | Biomimetic Robotic Fish Motion Modeling Yaw Control |
WOS标题词 | Science & Technology ; Technology |
关键词[WOS] | LOCOMOTION ; PERFORMANCE |
收录类别 | SCI |
语种 | 英语 |
WOS研究方向 | Computer Science |
WOS类目 | Computer Science, Information Systems |
WOS记录号 | WOS:000319533500005 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/3403 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R 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 | Zhou, Chao,Hou, Zeng-Guang,Cao, Zhiqiang,et al. Motion modeling and neural networks based yaw control of a biomimetic robotic fish[J]. INFORMATION SCIENCES,2013,237:39-48. |
APA | Zhou, Chao,Hou, Zeng-Guang,Cao, Zhiqiang,Wang, Shuo,&Tan, Min.(2013).Motion modeling and neural networks based yaw control of a biomimetic robotic fish.INFORMATION SCIENCES,237,39-48. |
MLA | Zhou, Chao,et al."Motion modeling and neural networks based yaw control of a biomimetic robotic fish".INFORMATION SCIENCES 237(2013):39-48. |
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