Study on motion control algorithms for a free-swimming biomimetic robot fish
文献类型：会议论文
| 作者 | Yu, Junzhi1 ; Chen, Erkui2; Wang, Shuo1; Tan, Min1
|
| 出版日期 | 2003 |
| 会议名称 | Proc. IEEE International Symposium on Intelligent Control |
| 会议日期 | Oct. 5–8, 2003 |
| 会议地点 | Texas, USA |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | We develop a practical motion control strategy for a radio-controlled, 4-link and free-swimming biomimetic robot fish that uses a flexible posterior body and an oscillating foil as propulser. Because motion control of robot fish involves hydrodynamics of the fluid environment and dynamics of the robot, it is very difficult to establish a mathematic model employing purely analytical methods. The fish's motion control task, based on control performance of the fish, is decomposed into on-line speed control and orientation control. The speed control algorithm is then implemented by using step control, and orientation control is realized by utilizing fuzzy logic. Combining with step control and fuzzy control, a point-to-point control algorithm is implemented and applied to the closed-loop experimental system that using a vision-based position sensing subsystem to provide feedback. The running experiments confirm the reliability and effectiveness of the presented algorithms. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13077]  |
| 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. Lab. for Complex Syst./Intell. Sci., Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China 2. College of Information and Electrics, China Univ. of Mining and Technology, Xuzhou 221008, China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Chen, Erkui,Wang, Shuo,et al. Study on motion control algorithms for a free-swimming biomimetic robot fish[C]. 见:Proc. IEEE International Symposium on Intelligent Control. Texas, USA. Oct. 5–8, 2003. |
入库方式： OAI收割
来源：自动化研究所
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