Depth Control of a Bioinspired Robotic Dolphin Based on Sliding-Mode Fuzzy Control Method
文献类型：期刊论文
| 作者 | Yu, Junzhi1,2 ; Liu, Jincun1,3; Wu, Zhengxing1; Fang, Hao2
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
 |
| 出版日期 | 2018-03-01 |
| 卷号 | 65期号:3页码:2429-2438 |
| 关键词 | Bioinspired Robotic Dolphin Depth Control Fuzzy Logic Sliding-mode Control (Smc) |
| DOI | 10.1109/TIE.2017.2745451 |
| 文献子类 | Article |
| 英文摘要 | This paper presents a hybrid controller that combines sliding-mode control (SMC) with a fuzzy strategy to regulate the vertical displacement of a bioinspired robotic dolphin. The structure of the robot and a simplified mathematical model for depth control are described. An SMC based on the line-of-sight guidance law and the slidingmode observer is developed to overcome systematic uncertainties and environmental disturbances. The Lyapunov stability theory is utilized to analyze the stability and convergence properties of the closed-loop system. Depth control in the physical robot is realized by utilizing a fuzzy logic controller, which is represented as the mapping of the input propulsion forces/ moments and output control parameters. Numerical and experimental results show that the proposed control strategy successfully steers the robot toward and along the desired depth. |
| WOS关键词 | AUTONOMOUS UNDERWATER VEHICLE ; TRACKING CONTROL ; FISH ; ATTITUDE |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000418643200050 |
| 资助机构 | National Natural Science Foundation of China(61633020 ; Beijing Natural Science Foundation(4164103 ; National Defense Science and Technology Innovation Fund of the Chinese Academy of Sciences(CXJJ-16M110) ; Beijing Advanced Innovation Center for Intelligent Robots and Systems(2016IRS02) ; 61633017 ; 4161002) ; 61603388 ; 61633004) |
| 源URL | [http://ir.ia.ac.cn/handle/173211/21926]  |
| 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.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Beijing 100081, Peoples R China 3.Univ Chinese Acad Sci, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Liu, Jincun,Wu, Zhengxing,et al. Depth Control of a Bioinspired Robotic Dolphin Based on Sliding-Mode Fuzzy Control Method[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2018,65(3):2429-2438. |
| APA | Yu, Junzhi,Liu, Jincun,Wu, Zhengxing,&Fang, Hao.(2018).Depth Control of a Bioinspired Robotic Dolphin Based on Sliding-Mode Fuzzy Control Method.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,65(3),2429-2438. |
| MLA | Yu, Junzhi,et al."Depth Control of a Bioinspired Robotic Dolphin Based on Sliding-Mode Fuzzy Control Method".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 65.3(2018):2429-2438. |
入库方式： OAI收割
来源：自动化研究所
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