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

doi:10.1007/s11071-020-05963-2

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室

	Nonlinear model predictive position control for a tail-actuated robotic fish
	Zhang, Pengfei 2,3; Wu, Zhengxing 2,3; Meng, Yan 2,3; Tan, Min 2,3; Yu, Junzhi 1,2
刊名	NONLINEAR DYNAMICS
	2020-09-28
页码	13
关键词	Bionic robotic fish Position control Nonlinear model predictive control Underactuated dynamics
ISSN号	0924-090X
DOI	10.1007/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.
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关键词	TRACKING CONTROL ; PERFORMANCE ; DYNAMICS
WOS研究方向	Engineering ; Mechanics
语种	英语
出版者	SPRINGER
WOS记录号	WOS:000573503000001
资助机构	National Natural Science Foundation of China ; Key Research Program of Frontier Sciences, CAS
内容类型	期刊论文
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
通讯作者	Yu, Junzhi
作者单位	1.Peking Univ, Dept Mech & Engn Sci, Coll Engn, State Key Lab Turbulence & Complex Syst,BIC ESAT, Beijing 100871, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, 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.