Knowledge Commons of Institute of Automation，CAS
| Depth Control for Robotic Dolphin Based on Fuzzy PID Control | |
Shen, Fei1 ; Cao, Zhiqiang1; Zhou, Chao1; Xu, De1; Gu, Nong2
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| 发表期刊 | INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING
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| 2013-09-01 | |
| 卷号 | 23期号:3页码:166-171 |
| 文章类型 | Article |
| 摘要 | In 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. |
| 关键词 | Robotic Dolphin Depth Control Barycenter Adjustment Fuzzy Pid Control |
| WOS标题词 | Science & Technology ; Technology |
| 关键词[WOS] | STABILITY ; DESIGN |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS研究方向 | Engineering |
| WOS类目 | Engineering, Civil ; Engineering, Ocean ; Engineering, Mechanical |
| WOS记录号 | WOS:000324224800002 |
| 引用统计 | |
| 文献类型 | 期刊论文 |
| 条目标识符 | http://ir.ia.ac.cn/handle/173211/3499 |
| 专题 | 复杂系统认知与决策实验室_先进机器人 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 2.Deakin Univ, Ctr Intelligent Syst Res, Geelong, Vic 3217, Australia |
| 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 | 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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| 文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
| 2013-Depth Control f（1541KB） | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 | |
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