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Controlling the depth of a gliding robotic dolphin using dual motion control modes

文献类型：期刊论文

作者Wang, Jian1,2; Wu, Zhengxing1; Tan, Min1; Yu, Junzhi1,3
刊名SCIENCE CHINA-INFORMATION SCIENCES
出版日期2020-07-24
卷号63期号:9页码:14
关键词gliding robotic dolphin depth control dual motion adaptive control approach
ISSN号1674-733X
DOI10.1007/s11432-019-2671-y
通讯作者Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要This paper investigates the performance of the dual mode, namely flipper mode and central pattern generator (CPG) mode, for controlling the depth of a gliding robotic dolphin. Subsequent to considering the errors in dynamic models, we propose a depth control system that combines the line-of-sight (LOS) method with an adaptive control approach (ACA) to deal with uncertainties in the model parameters. First, we establish a full-state dynamic model to conduct simulations and optimize the parameters used in later aquatic experiments. Then, we use the LOS method to transform the control target from the depth to the pitch angle and employ the ACA to calculate the control signal. In particular, we optimize the ACA's control parameters using simulations based on our dynamic model. Finally, our simulated and experimental results demonstrate not only that we can successfully control the robotic dolphin's depth, but also that its performance was better than that of the CPG-based control, thus indicating that we can achieve three-dimensional motion by combining flipper-based and CPG-based control. The results of this study suggest valuable ideas for practical applications of gliding robotic dolphins.
资助项目National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61603388] ; Key Project of Frontier Science Research of Chinese Academy of Sciences[QYZDJ-SSW-JSC004]
WOS研究方向Computer Science ; Engineering
语种英语
WOS记录号WOS:000556903000002
出版者SCIENCE PRESS
资助机构National Natural Science Foundation of China ; Key Project of Frontier Science Research of Chinese Academy of Sciences
源URL[http://ir.ia.ac.cn/handle/173211/40358]  
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
复杂系统管理与控制国家重点实验室_水下机器人
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.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Peking Univ, Coll Engn, Dept Mech & Engn Sci, State Key Lab Turbulence & Complex Syst,BIC ESAT, Beijing 100871, Peoples R China
推荐引用方式
GB/T 7714		 Wang, Jian,Wu, Zhengxing,Tan, Min,et al. Controlling the depth of a gliding robotic dolphin using dual motion control modes[J]. SCIENCE CHINA-INFORMATION SCIENCES,2020,63(9):14.
APA Wang, Jian,Wu, Zhengxing,Tan, Min,&Yu, Junzhi.(2020).Controlling the depth of a gliding robotic dolphin using dual motion control modes.SCIENCE CHINA-INFORMATION SCIENCES,63(9),14.
MLA Wang, Jian,et al."Controlling the depth of a gliding robotic dolphin using dual motion control modes".SCIENCE CHINA-INFORMATION SCIENCES 63.9(2020):14.

入库方式： OAI收割

来源：自动化研究所

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