Data-Assisted Dynamic Modeling of Bionic Robotic Fish and Its Precise Speed Control
文献类型：期刊论文
| 作者 | Han, Jiarong4; Huang S(黄顺)2,3; Yao, Yingyu4; Ma, Zhongjing4; Liu, Yu1 ; Zou, Suli4; Yin B(银波)2,3
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| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
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| 出版日期 | 2024-11-01 |
| 卷号 | 9期号:11页码:10447-10454 |
| 关键词 | Biologically-inspired robots dynamics hydrodynamic modeling motion control robotic fish Biologically-inspired robots dynamics hydrodynamic modeling motion control robotic fish |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2024.3468176 |
| 通讯作者 | Ma, Zhongjing(mazhongjing@bit.edu.cn) |
| 英文摘要 | Dynamic modeling is essential for comprehending physical mechanisms and devising control strategies in bionic robot research. This letter introduces a novel dynamic modeling method that combines Lagrangian dynamics and data-assisted techniques for robotic fish with bionic morphology, multi-joint structures, and a flexible caudal fin. Firstly, a nonlinear continuous hydrodynamic model has been developed using extensive data derived from computational fluid dynamics (CFD), thereby capturing the high-fidelity locomotion of robotic fish. Secondly, based on mathematical derivation, a stability analysis method and controller design approach for biomimetic systems with periodic behaviors have been proposed. Furthermore, to demonstrate the model's efficacy, we designed a model reference adaptive controller for speed control. Both simulation and experimental results validate the model's accuracy, effectiveness, and potential for improving control consistency in tracking time-varying speeds of robotic fish. |
| 分类号 | 二类 |
| WOS关键词 | PERFORMANCE ; TRACKING |
| 资助项目 | Beijing Natural Science Foundation of China[IS23063] ; Strategic Priority Research Program of the Chinese Academy of Sciences (class A)[XDA22040203] ; National Natural Science Foundation of China[12272383] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:001336242500007 |
| 资助机构 | Beijing Natural Science Foundation of China ; Strategic Priority Research Program of the Chinese Academy of Sciences (class A) ; National Natural Science Foundation of China |
| 其他责任者 | Ma, Zhongjing |
| 源URL | [http://dspace.imech.ac.cn/handle/311007/97067]  |
| 专题 | 力学研究所_流固耦合系统力学重点实验室(2012-) |
| 作者单位 | 1.Chinese Acad Sci, Inst Acoust, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Engn Sci, Beijing 100049, Peoples R China; 3.Chinese Acad Sci, Key Lab Mech Fluid Solid Coupling Syst, Inst Mech, Beijing 100190, Peoples R China; 4.Beijing Inst Technol, Sch Automation, Beijing 100081, Peoples R China; |
| 推荐引用方式 GB/T 7714 | Han, Jiarong,Huang S,Yao, Yingyu,et al. Data-Assisted Dynamic Modeling of Bionic Robotic Fish and Its Precise Speed Control[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2024,9(11):10447-10454. |
| APA | Han, Jiarong.,黄顺.,Yao, Yingyu.,Ma, Zhongjing.,Liu, Yu.,...&银波.(2024).Data-Assisted Dynamic Modeling of Bionic Robotic Fish and Its Precise Speed Control.IEEE ROBOTICS AND AUTOMATION LETTERS,9(11),10447-10454. |
| MLA | Han, Jiarong,et al."Data-Assisted Dynamic Modeling of Bionic Robotic Fish and Its Precise Speed Control".IEEE ROBOTICS AND AUTOMATION LETTERS 9.11(2024):10447-10454. |
入库方式： OAI收割
来源：力学研究所
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