Back-propagation neural network based predictive control for biomimetic robotic fish
文献类型：会议论文
| 作者 | Wang, Ming1,2; Yu, Junzhi1 ; Tan, Min1; Yang, Qinghai1
|
| 出版日期 | 2008 |
| 会议名称 | 27th Chinese Control Conference, CCC |
| 会议日期 | July 16, 2008 - July 18, 2008 |
| 会议地点 | Kunming, Yunnan, China |
| 关键词 | Biomimetic robotic fish Central pattern generator Back-propagation neural network Predictive control Motion control |
| 通讯作者 | Wang Ming |
| 英文摘要 | This paper presents a practical swimming data prediction method for a free-swimming, three-link robotic fish. Since a full hydrodynamic model for fish swimming is very complex and intractable, the primitive swimming data generated by a Central Pattern Generator controller is fed into a Back-Propagation Neural Network (BPNN) for trimming. After the process of training, the BPNN is able to predict the actual swimming data for various swimming patterns without dynamic modeling. Preliminary simulation and experimental results on swimming control show the effectiveness of the proposed prediction method as well as its potential for other flexible link-based robots. |
| 会议录 | Chinese Control Conference, CCC
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13061]  |
| 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 | 1. Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2. School of Information and Electric Engineering, Shandong Jianzhu University, Jinan 250101, China |
| 推荐引用方式 GB/T 7714 | Wang, Ming,Yu, Junzhi,Tan, Min,et al. Back-propagation neural network based predictive control for biomimetic robotic fish[C]. 见:27th Chinese Control Conference, CCC. Kunming, Yunnan, China. July 16, 2008 - July 18, 2008. |
入库方式： OAI收割
来源：自动化研究所
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