Development of a Whale-Shark-Inspired Gliding Robotic Fish With High Maneuverability | |
Dong, Huijie1,2![]() ![]() ![]() ![]() ![]() | |
发表期刊 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
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ISSN | 1083-4435 |
2020-12-01 | |
卷号 | 25期号:6页码:2824-2834 |
摘要 | In this article, we present the design and implementation of an innovative bioinspired gliding robotic fish and a gliding angle controller. Through mimicking a whale shark, the gliding robotic fish is designed with diversified control surfaces and a streamlined shape instead of the conventional wings with large wingspan aiming at both high maneuverability and distinguished gliding performance. The mechatronic design of the whale-shark-inspired gliding robotic fish is first provided. A dynamic model for gliding motion is established and the hydrodynamic analysis is performed via computational fluid dynamics simulation. The effects of both the deflection of the pectoral fins and the displacement of the movable mass on the gliding motion are analyzed. Then, based on the model and the analysis, a gliding angle control strategy is constructed via the backstepping methodology and the sliding mode methodology, aiming at the robustness of the control system to unknown perturbation. Afterward, a control allocation law is designed and solved by the Newton method. Simulations are conducted to evaluate the effectiveness of the proposed controller. Experiments are also executed to verify the dynamic model and illustrate the remarkable motion capability of the newly developed robot prototype. The results of this article supply clues to the improvement of the locomotive ability for the gliding robotic fish in both shape design and motion control. |
关键词 | Buoyancy Robot kinematics Shape Mechatronics Whales Robot sensing systems Biomimetic robot gliding robotic fish modeling and control underwater robotics |
DOI | 10.1109/TMECH.2020.2994451 |
关键词[WOS] | DESIGN ; MOTION |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61633004] ; National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[61973303] ; Youth Innovation Promotion Association CAS[2019138] ; Key Research Program of Frontier Sciences, CAS[QYZDJ-SSW-JSC004] |
项目资助者 | National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Key Research Program of Frontier Sciences, CAS |
WOS研究方向 | Automation & Control Systems ; Engineering |
WOS类目 | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
WOS记录号 | WOS:000599503600022 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
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/173211/42738 |
专题 | 复杂系统管理与控制国家重点实验室 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, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Peking Univ, Coll Engn, BIC ESAT, State Key Lab Turbulence & Complex Syst,Dept Mech, 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 | Dong, Huijie,Wu, Zhengxing,Chen, Di,et al. Development of a Whale-Shark-Inspired Gliding Robotic Fish With High Maneuverability[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2020,25(6):2824-2834. |
APA | Dong, Huijie,Wu, Zhengxing,Chen, Di,Tan, Min,&Yu, Junzhi.(2020).Development of a Whale-Shark-Inspired Gliding Robotic Fish With High Maneuverability.IEEE-ASME TRANSACTIONS ON MECHATRONICS,25(6),2824-2834. |
MLA | Dong, Huijie,et al."Development of a Whale-Shark-Inspired Gliding Robotic Fish With High Maneuverability".IEEE-ASME TRANSACTIONS ON MECHATRONICS 25.6(2020):2824-2834. |
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