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Controlling the depth of a gliding robotic dolphin using dual motion control modes | |
Wang, Jian1,2![]() ![]() ![]() ![]() | |
发表期刊 | SCIENCE CHINA-INFORMATION SCIENCES
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ISSN | 1674-733X |
2020-07-24 | |
卷号 | 63期号:9页码:14 |
摘要 | This paper investigates the performance of the dual mode, namely flipper mode and central pattern generator (CPG) mode, for controlling the depth of a gliding robotic dolphin. Subsequent to considering the errors in dynamic models, we propose a depth control system that combines the line-of-sight (LOS) method with an adaptive control approach (ACA) to deal with uncertainties in the model parameters. First, we establish a full-state dynamic model to conduct simulations and optimize the parameters used in later aquatic experiments. Then, we use the LOS method to transform the control target from the depth to the pitch angle and employ the ACA to calculate the control signal. In particular, we optimize the ACA's control parameters using simulations based on our dynamic model. Finally, our simulated and experimental results demonstrate not only that we can successfully control the robotic dolphin's depth, but also that its performance was better than that of the CPG-based control, thus indicating that we can achieve three-dimensional motion by combining flipper-based and CPG-based control. The results of this study suggest valuable ideas for practical applications of gliding robotic dolphins. |
关键词 | gliding robotic dolphin depth control dual motion adaptive control approach |
DOI | 10.1007/s11432-019-2671-y |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61603388] ; Key Project of Frontier Science Research of Chinese Academy of Sciences[QYZDJ-SSW-JSC004] |
项目资助者 | National Natural Science Foundation of China ; Key Project of Frontier Science Research of Chinese Academy of Sciences |
WOS研究方向 | Computer Science ; Engineering |
WOS类目 | Computer Science, Information Systems ; Engineering, Electrical & Electronic |
WOS记录号 | WOS:000556903000002 |
出版者 | SCIENCE PRESS |
七大方向——子方向分类 | 智能机器人 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/40359 |
专题 | 复杂系统认知与决策实验室_先进机器人 复杂系统认知与决策实验室_水下机器人 |
通讯作者 | Yu, Junzhi |
作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.Peking Univ, Coll Engn, Dept Mech & Engn Sci, State Key Lab Turbulence & Complex Syst,BIC ESAT, Beijing 100871, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Wang, Jian,Wu, Zhengxing,Tan, Min,et al. Controlling the depth of a gliding robotic dolphin using dual motion control modes[J]. SCIENCE CHINA-INFORMATION SCIENCES,2020,63(9):14. |
APA | Wang, Jian,Wu, Zhengxing,Tan, Min,&Yu, Junzhi.(2020).Controlling the depth of a gliding robotic dolphin using dual motion control modes.SCIENCE CHINA-INFORMATION SCIENCES,63(9),14. |
MLA | Wang, Jian,et al."Controlling the depth of a gliding robotic dolphin using dual motion control modes".SCIENCE CHINA-INFORMATION SCIENCES 63.9(2020):14. |
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Controlling the dept(847KB) | 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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