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Development of a biomimetic robotic fish and its control algorithm
Yu, JZ; Tan, M; Wang, S; Chen, E
2004-08-01
发表期刊IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
卷号34期号:4页码:1798-1810
文章类型Article
摘要This paper is concerned with the design of a robotic fish and its motion control algorithms. A radio-controlled, four-link biomimetic robotic fish is developed using a flexible posterior body and an oscillating foil as a propeller. The swimming speed of the robotic fish is adjusted by modulating joint's oscillating frequency, and its orientation is tuned by different joint's deflections. Since the motion control of a robotic fish involves both hydrodynamics of the fluid environment and dynamics of the robot, it is very difficult to establish a precise mathematical model employing purely analytical methods. Therefore, the fish's motion control task is decomposed into two control systems. The online speed control implements a hybrid control strategy and a proportional-integral-derivative (PID) control algorithm. The orientation control system is based on a fuzzy logic controller. In our experiments, a point-to-point (PTP) control algorithm is implemented and an overhead vision system is adopted to provide real-time visual feedback. The experimental results confirm the effectiveness of the proposed algorithms.
关键词Biomimetic Robotic Fish Orientation Control Point-to-point (Ptp) Control Speed Control
WOS标题词Science & Technology ; Technology
关键词[WOS]ELONGATED-BODY THEORY ; SWIMMING MACHINE ; LOCOMOTION ; EFFICIENCY ; PROPULSION ; AMPLITUDE
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems ; Computer Science
WOS类目Automation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS记录号WOS:000222721000016
引用统计
被引频次:277[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9026
专题09年以前成果
作者单位1.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
2.So Yangtze Univ, Sch Commun & Control Engn, Wuxi 214036, Peoples R China
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Yu, JZ,Tan, M,Wang, S,et al. Development of a biomimetic robotic fish and its control algorithm[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,2004,34(4):1798-1810.
APA Yu, JZ,Tan, M,Wang, S,&Chen, E.(2004).Development of a biomimetic robotic fish and its control algorithm.IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,34(4),1798-1810.
MLA Yu, JZ,et al."Development of a biomimetic robotic fish and its control algorithm".IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 34.4(2004):1798-1810.
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