Separate Control Strategy for a Biomimetic Gliding Robotic Fish
文献类型：期刊论文
| 作者 | Dong, Huijie1,2 ; Wu, Zhengxing1,2; Zhang, Pengfei1,2; Wang, Jian1,2; Tan, Min1,2; Yu, Junzhi2,3
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| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
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| 出版日期 | 2021-10-18 |
| 页码 | 10 |
| 关键词 | Robot kinematics Attitude control Buoyancy Hydrodynamics Control systems Tracking Torque Biomimetic robot gliding robotic fish motion control pitch control underwater robotics |
| ISSN号 | 1083-4435 |
| DOI | 10.1109/TMECH.2021.3117877 |
| 通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
| 英文摘要 | In this article, we present a novel separate strategy to control the pitch attitude and the gliding direction for a biomimetic gliding robotic fish by the coordination of the external and internal control surfaces. First, we derive the gliding dynamics and hydrodynamics within the framework of the extended angle of attack (AOA), based on which the gliding model is decomposed into pitch and velocity terms. Next, the backstepping and model predictive controllers are designed to regulate pitch angle using a movable mass and an AOA using pectoral fins based on their control features, respectively. Further, extensive simulations encompassing separate control and path following with desired pitch attitude are conducted to verify the feasibility and superiority of the proposed control strategy. More importantly, to capture the real-time gliding states in practical environment, we develop a gliding measurement and control system. Through the system, the aquatic experiments are carried out to further verify the effectiveness of the proposed separate control strategy. The obtained results offer valuable insight into the development of complex motion control of the gliding robots, laying a solid foundation for diversified underwater missions besides visual perception and autonomous docking. |
| WOS关键词 | UNDERWATER GLIDER ; DESIGN |
| 资助项目 | National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[62073196] ; National Natural Science Foundation of China[61836015] ; S&T Program of Hebei[F2020203037] ; Youth Innovation Promotion Association CAS[2019138] ; Beijing Nova Program[Z201100006820078] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000732624200001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; S&T Program of Hebei ; Youth Innovation Promotion Association CAS ; Beijing Nova Program |
| 源URL | [http://ir.ia.ac.cn/handle/173211/46842]  |
| 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 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Peking Univ, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, BIC ESAT,Coll Engn, Beijing 100871, Peoples R China |
| 推荐引用方式 GB/T 7714 | Dong, Huijie,Wu, Zhengxing,Zhang, Pengfei,et al. Separate Control Strategy for a Biomimetic Gliding Robotic Fish[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2021:10. |
| APA | Dong, Huijie,Wu, Zhengxing,Zhang, Pengfei,Wang, Jian,Tan, Min,&Yu, Junzhi.(2021).Separate Control Strategy for a Biomimetic Gliding Robotic Fish.IEEE-ASME TRANSACTIONS ON MECHATRONICS,10. |
| MLA | Dong, Huijie,et al."Separate Control Strategy for a Biomimetic Gliding Robotic Fish".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021):10. |
入库方式： OAI收割
来源：自动化研究所
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