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Model predictive control-based depth control in gliding motion of a gliding robotic dolphin | |
Wang Jian(王健)1,2![]() ![]() ![]() ![]() | |
发表期刊 | IEEE Transactions on Systems, Man, and Cybernetics: Systems
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ISSN | 2168-2216 |
2021 | |
卷号 | 9期号:51页码:5466–5477 |
摘要 | This article proposes a model predictive control (MPC)-based depth control system for the gliding motion of a gliding robotic dolphin. An injector-based buoyancy-driven mechanism is employed to achieve more precise control of net buoyancy. In the system, a novel framework of depth control is proposed on the basis of a simplified model, including a depth controller with improved MPC, a heading controller with velocity-based proportional-integral-derivative, and a sliding mode observer. Extensive simulation and experimental results demonstrate the effectiveness of the proposed control methods. In particular, a variety of slider-based experiments are also conducted to explore the performance of a movable slider in the depth control so as to better govern the gliding angle. The results obtained reveal that it is feasible to realize regular gliding angles via regulating the slider, which offers promising prospects for bio-inspired gliding robots playing a key role in ocean exploration. |
关键词 | Gliding motion depth control model predictive control (MPC) underwater robotics |
学科门类 | 工学::控制科学与工程 |
DOI | 10.1109/TSMC.2019.2956531 |
收录类别 | SCI |
语种 | 英语 |
WOS记录号 | WOS:000685890800026 |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 智能控制 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/44436 |
专题 | 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.the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences 2.the School of Artificial Intelligence, University of Chinese Academy of Sciences 3.the State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, 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. Model predictive control-based depth control in gliding motion of a gliding robotic dolphin[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems,2021,9(51):5466–5477. |
APA | Wang Jian,Wu Zhengxing,Tan Min,&Yu Junzhi.(2021).Model predictive control-based depth control in gliding motion of a gliding robotic dolphin.IEEE Transactions on Systems, Man, and Cybernetics: Systems,9(51),5466–5477. |
MLA | Wang Jian,et al."Model predictive control-based depth control in gliding motion of a gliding robotic dolphin".IEEE Transactions on Systems, Man, and Cybernetics: Systems 9.51(2021):5466–5477. |
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2021-一作-王健TSMCA-02-P(1972KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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