Motion modeling and neural networks based yaw control of a biomimetic robotic fish
文献类型：期刊论文
| 作者 | Zhou, Chao ; Hou, Zeng-Guang; Cao, Zhiqiang; Wang, Shuo; Tan, Min
|
| 刊名 | INFORMATION SCIENCES
 |
| 出版日期 | 2013-07-10 |
| 卷号 | 237页码:39-48 |
| 关键词 | Biomimetic robotic fish Motion modeling Yaw control |
| 英文摘要 | This paper focuses on the modeling of undulation propulsion and a neural network (NN) yaw controller based on this model. First, because of the importance of the first link's oscillation in yaw control, a motion model of free swimming was built based on the Lagrangian function, and the coupled dynamic and kinematic functions were calculated based on the relation between the generalized force and the fluid force. Second, a neural network was trained through the data generated from this model to obtain a predictive yaw controller that could control the orientation by the different offsets of each link. Finally, simulations were conducted to demonstrate the performance of the controller. (c) 2011 Elsevier Inc. All rights reserved. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems |
| 研究领域[WOS] | Computer Science |
| 关键词[WOS] | LOCOMOTION ; PERFORMANCE |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000319533500005 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3403]  |
| 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 |
| 作者单位 | Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhou, Chao,Hou, Zeng-Guang,Cao, Zhiqiang,et al. Motion modeling and neural networks based yaw control of a biomimetic robotic fish[J]. INFORMATION SCIENCES,2013,237:39-48. |
| APA | Zhou, Chao,Hou, Zeng-Guang,Cao, Zhiqiang,Wang, Shuo,&Tan, Min.(2013).Motion modeling and neural networks based yaw control of a biomimetic robotic fish.INFORMATION SCIENCES,237,39-48. |
| MLA | Zhou, Chao,et al."Motion modeling and neural networks based yaw control of a biomimetic robotic fish".INFORMATION SCIENCES 237(2013):39-48. |
入库方式： OAI收割
来源：自动化研究所
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