Motion modeling and neural networks based yaw control of a biomimetic robotic fish

	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	被引频次：10[WOS] [WOS记录] [WOS相关记录]
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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