Gliding Motion Regulation of a Robotic Dolphin Based on a Controllable Fluke
文献类型：期刊论文
| 作者 | Wu, Zhengxing1 ; Yu, Junzhi1,2; Yuan, Jun1; Tan, Min1; Qi, Suwen3
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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| 出版日期 | 2020-04-01 |
| 卷号 | 67期号:4页码:2945-2953 |
| 关键词 | Gliding robotic dolphin motion control pitch control underwater robotics |
| ISSN号 | 0278-0046 |
| DOI | 10.1109/TIE.2019.2913810 |
| 通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
| 英文摘要 | This paper investigates a controllable fluke's regulation effect on the gliding motion of a self-propelled robotic dolphin in both theory and practice. In theory, based on a dynamic model, the gliding equilibria is first analyzed. Through deriving the explicit expressions of the pitch angle, gliding angle, and velocities, we explore how the deflection angle of the controllable fluke changes the gliding performance. Then, aided by these theoretical analyses, a pitch control strategy relying on the fluke is constructed. In simulations, the robotic dolphin is able to track a given pitch angle during gliding, directly through adopting this control strategy to regulate the fluke's deflection angle. Furthermore, extensive gliding experiments in different fluke's deflection angles are carried out. From the statistical data, we further explore the remarkable effects of the controllable fluke on the gliding performance in practice. Besides, the other pitch control experiment is also executed to validate the effectiveness of the proposed control approach. The results of this paper shed light on improving the gliding performance of the robotic dolphin in future mechanical design and gliding control. |
| WOS关键词 | UNDERWATER ; SEAGLIDER ; MANEUVERS ; WATER |
| 资助项目 | National Natural Science Foundation of China[61603388] ; National Natural Science Foundation of China[61836015] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61633017] ; Preresearch Fund of Equipments of China[61403120108] ; Beijing Natural Science Foundation[4161002] ; Key Research Program of Frontier Sciences, CAS[QYZDJ-SSW-JSC004] |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000507307000043 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Preresearch Fund of Equipments of China ; Beijing Natural Science Foundation ; Key Research Program of Frontier Sciences, CAS |
| 源URL | [http://ir.ia.ac.cn/handle/173211/29531]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Peking Univ, Coll Engn, State Key Lab Turbulence & Complex Syst, Dept Mech & Engn Sci,BIC ESAT, Beijing 100871, Peoples R China 3.Shenzhen Univ, Sch Med, Dept Biomed Engn, Shenzhen 518060, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wu, Zhengxing,Yu, Junzhi,Yuan, Jun,et al. Gliding Motion Regulation of a Robotic Dolphin Based on a Controllable Fluke[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2020,67(4):2945-2953. |
| APA | Wu, Zhengxing,Yu, Junzhi,Yuan, Jun,Tan, Min,&Qi, Suwen.(2020).Gliding Motion Regulation of a Robotic Dolphin Based on a Controllable Fluke.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,67(4),2945-2953. |
| MLA | Wu, Zhengxing,et al."Gliding Motion Regulation of a Robotic Dolphin Based on a Controllable Fluke".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 67.4(2020):2945-2953. |
入库方式： OAI收割
来源：自动化研究所
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