CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Depth Control for Robotic Dolphin Based on Fuzzy PID Control
Shen, Fei1; Cao, Zhiqiang1; Zhou, Chao1; Xu, De1; Gu, Nong2
Source PublicationINTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING
2013-09-01
Volume23Issue:3Pages:166-171
SubtypeArticle
AbstractIn this paper, the depth control for a robotic dolphin is considered. The structure of the robotic dolphin is firstly designed based on the analysis of stable conditions on the motions of biological fish and dolphins. Our pitching motion analysis indicates that the movement distance of balance weight can be employed for depth control. Considering the nonlinear model in depth control and the volume variation of the rubber skin due to water pressure, a fuzzy PED controller is proposed to realize the depth control. Fuzzy controller 1 is utilized to compensate for the big error with fast response. To eliminate steady-state error caused by buoyancy change, fuzzy controller 2 and an accumulator are activated by the intelligent switch when necessary. The experimental results verify the effectiveness of the proposed controller.
KeywordRobotic Dolphin Depth Control Barycenter Adjustment Fuzzy Pid Control
WOS HeadingsScience & Technology ; Technology
WOS KeywordSTABILITY ; DESIGN
Indexed BySCI
Language英语
WOS Research AreaEngineering
WOS SubjectEngineering, Civil ; Engineering, Ocean ; Engineering, Mechanical
WOS IDWOS:000324224800002
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3499
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
2.Deakin Univ, Ctr Intelligent Syst Res, Geelong, Vic 3217, Australia
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Shen, Fei,Cao, Zhiqiang,Zhou, Chao,et al. Depth Control for Robotic Dolphin Based on Fuzzy PID Control[J]. INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING,2013,23(3):166-171.
APA Shen, Fei,Cao, Zhiqiang,Zhou, Chao,Xu, De,&Gu, Nong.(2013).Depth Control for Robotic Dolphin Based on Fuzzy PID Control.INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING,23(3),166-171.
MLA Shen, Fei,et al."Depth Control for Robotic Dolphin Based on Fuzzy PID Control".INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING 23.3(2013):166-171.
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