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Development of a biomimetic robotic fish and its control algorithm
文献类型：期刊论文
| 作者 | Yu, JZ ; Tan, M; Wang, S; Chen, E
|
| 刊名 | IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
 |
| 出版日期 | 2004-08-01 |
| 卷号 | 34期号:4页码:1798-1810 |
| 关键词 | biomimetic robotic fish orientation control point-to-point (PTP) control speed control |
| 英文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics |
| 研究领域[WOS] | Automation & Control Systems ; Computer Science |
| 关键词[WOS] | ELONGATED-BODY THEORY ; SWIMMING MACHINE ; LOCOMOTION ; EFFICIENCY ; PROPULSION ; AMPLITUDE |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000222721000016 |
| 公开日期 | 2015-12-24 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/9026]  |
| 专题 | 自动化研究所_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 |
| 推荐引用方式 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. |
入库方式： OAI收割
来源：自动化研究所
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