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Development of a biomimetic robotic fish and its control algorithm
Yu, JZ; Tan, M; Wang, S; Chen, E
Source PublicationIEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
2004-08-01
Volume34Issue:4Pages:1798-1810
SubtypeArticle
AbstractThis 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.
KeywordBiomimetic Robotic Fish Orientation Control Point-to-point (Ptp) Control Speed Control
WOS HeadingsScience & Technology ; Technology
WOS KeywordELONGATED-BODY THEORY ; SWIMMING MACHINE ; LOCOMOTION ; EFFICIENCY ; PROPULSION ; AMPLITUDE
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS IDWOS:000222721000016
Citation statistics
Cited Times:286[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9026
Collection09年以前成果
Affiliation1.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
Recommended Citation
GB/T 7714
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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