中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
首页 机构 成果 学者
  
  1. CAS IR Grid
  2. 自动化研究所
  3. 中国科学院自动化研究所
  4. 复杂系统认知与决策实验室
  5. 先进机器人控制团队
Depth Control for Robotic Dolphin Based on Fuzzy PID Control

文献类型：期刊论文

作者Shen, Fei1; Cao, Zhiqiang1; Zhou, Chao1; Xu, De1; Gu, Nong2
刊名INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING
出版日期2013-09-01
卷号23期号:3页码:166-171
关键词Robotic dolphin depth control barycenter adjustment fuzzy PID control
英文摘要In this paper, the depth control for a robotic dolphin is considered. The structure of the robotic dolphin is firstly designed based on the analysis of stable conditions on the motions of biological fish and dolphins. Our pitching motion analysis indicates that the movement distance of balance weight can be employed for depth control. Considering the nonlinear model in depth control and the volume variation of the rubber skin due to water pressure, a fuzzy PED controller is proposed to realize the depth control. Fuzzy controller 1 is utilized to compensate for the big error with fast response. To eliminate steady-state error caused by buoyancy change, fuzzy controller 2 and an accumulator are activated by the intelligent switch when necessary. The experimental results verify the effectiveness of the proposed controller.
WOS标题词Science & Technology ; Technology
类目[WOS]Engineering, Civil ; Engineering, Ocean ; Engineering, Mechanical
研究领域[WOS]Engineering
关键词[WOS]STABILITY ; DESIGN
收录类别SCI
语种英语
WOS记录号WOS:000324224800002
源URL[http://ir.ia.ac.cn/handle/173211/3499]  
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1.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
2.Deakin Univ, Ctr Intelligent Syst Res, Geelong, Vic 3217, Australia
推荐引用方式
GB/T 7714		 Shen, Fei,Cao, Zhiqiang,Zhou, Chao,et al. Depth Control for Robotic Dolphin Based on Fuzzy PID Control[J]. INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING,2013,23(3):166-171.
APA Shen, Fei,Cao, Zhiqiang,Zhou, Chao,Xu, De,&Gu, Nong.(2013).Depth Control for Robotic Dolphin Based on Fuzzy PID Control.INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING,23(3),166-171.
MLA Shen, Fei,et al."Depth Control for Robotic Dolphin Based on Fuzzy PID Control".INTERNATIONAL JOURNAL OF OFFSHORE AND POLAR ENGINEERING 23.3(2013):166-171.

入库方式： OAI收割

来源：自动化研究所

浏览0
下载0
收藏0
其他版本

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。