Data-Driven Dynamic Modeling for a Swimming Robotic Fish
文献类型：期刊论文
| 作者 | Yu, Junzhi ; Yuan, Jun; Wu, Zhengxing; Tan, Min
|
| 刊名 | IEEE Transactions on Industrial Electronics
 |
| 出版日期 | 2016 |
| 卷号 | 63期号:9页码:5632-5640 |
| 关键词 | robotic fish Hydrodynamic analysis modeling and control parameter identification |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | This paper proposes a data-driven dynamic modeling method for multijoint robotic fish with irregular geometric profiles and numerous heterogeneous hydrodynamic parameters. The method is composed of two main components: dynamic modeling and hydrodynamic parameter identification. In dynamic modeling, fluid forces exerted on the robotic fish are analyzed by the Morrison equation and the strip method. A dynamicmodel with an explicit formulation is derived, in which all terms involved in the dynamic analysis are converted to the coordinate system attached to the head. Further, the parameter identification technique is integrated into dynamic modeling, which reshapes it with data-driven feature and thereby makes it be competent to model swimming robots with complex geometric profiles and numerous heterogeneous hydrodynamic parameters. Experimental data of the swimming robotic fish are collected to identify the parameters directly. The obtained dynamic model is validated by data captured under extensive motion modes like forward swimming, varying velocity, and turning. Comparisons of simulated and experimental results demonstrate the effectiveness of the method. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13085]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Yuan, Jun,Wu, Zhengxing,et al. Data-Driven Dynamic Modeling for a Swimming Robotic Fish[J]. IEEE Transactions on Industrial Electronics,2016,63(9):5632-5640. |
| APA | Yu, Junzhi,Yuan, Jun,Wu, Zhengxing,&Tan, Min.(2016).Data-Driven Dynamic Modeling for a Swimming Robotic Fish.IEEE Transactions on Industrial Electronics,63(9),5632-5640. |
| MLA | Yu, Junzhi,et al."Data-Driven Dynamic Modeling for a Swimming Robotic Fish".IEEE Transactions on Industrial Electronics 63.9(2016):5632-5640. |
入库方式： OAI收割
来源：自动化研究所
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