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Nonlinear model predictive position control for a tail-actuated robotic fish

文献类型：期刊论文

作者Zhang, Pengfei1,3; Wu, Zhengxing1,3; Meng, Yan1,3; Tan, Min1,3; Yu, Junzhi2,3
刊名NONLINEAR DYNAMICS
出版日期2020-09-28
页码13
关键词Bionic robotic fish Position control Nonlinear model predictive control Underactuated dynamics
ISSN号0924-090X
DOI10.1007/s11071-020-05963-2
通讯作者Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要Position control is a significant technique for the underwater application of robotic fish; however, it is also very challenging due to the underactuated property and input coupling of system dynamics. In this article, a two-stage orientation-velocity nonlinear model predictive controller is proposed to solve this problem. A scaled averaging model of tail-actuated robotic fish is constructed at first. Then, the novel strategy based on orientation and velocity control is developed as well as proved to be equivalent with position control in the sense of Lyapunov. Furthermore, a nonlinear model predictive controller with a two-stage switching strategy is designed to regulate the orientation and velocity error. Finally, the simulation results demonstrate the superiority of the proposed control algorithm compared with other methods. Particularly, there exists an interesting twist-braking behavior in simulation, which indicates that the proposed method makes better use of the system dynamics. The proposed method is efficient for not only bionic robotic fish but also other aquatic underactuated robots, which offers new insight into the position control of underwater robots.
WOS关键词TRACKING CONTROL ; PERFORMANCE ; DYNAMICS
资助项目National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61973303] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[61421004] ; Key Research Program of Frontier Sciences, CAS[QYZDJ-SSW-JSC004]
WOS研究方向Engineering ; Mechanics
语种英语
WOS记录号WOS:000573503000001
出版者SPRINGER
资助机构National Natural Science Foundation of China ; Key Research Program of Frontier Sciences, CAS
源URL[http://ir.ia.ac.cn/handle/173211/42016]  
专题自动化研究所_复杂系统管理与控制国家重点实验室
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
通讯作者Yu, Junzhi
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Peking Univ, Dept Mech & Engn Sci, Coll Engn, State Key Lab Turbulence & Complex Syst,BIC ESAT, Beijing 100871, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Zhang, Pengfei,Wu, Zhengxing,Meng, Yan,et al. Nonlinear model predictive position control for a tail-actuated robotic fish[J]. NONLINEAR DYNAMICS,2020:13.
APA Zhang, Pengfei,Wu, Zhengxing,Meng, Yan,Tan, Min,&Yu, Junzhi.(2020).Nonlinear model predictive position control for a tail-actuated robotic fish.NONLINEAR DYNAMICS,13.
MLA Zhang, Pengfei,et al."Nonlinear model predictive position control for a tail-actuated robotic fish".NONLINEAR DYNAMICS (2020):13.

入库方式： OAI收割

来源：自动化研究所

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