Separate Control Strategy for a Biomimetic Gliding Robotic Fish

doi:10.1109/TMECH.2021.3117877

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 > 先进机器人控制团队

	Separate Control Strategy for a Biomimetic Gliding Robotic Fish
	Dong, Huijie 1,2; Wu, Zhengxing 1,2; Zhang, Pengfei 1,2; Wang, Jian 1,2; Tan, Min 1,2; Yu, Junzhi 2,3
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	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.
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关键词	UNDERWATER GLIDER ; DESIGN
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000732624200001
资助机构	National Natural Science Foundation of China ; S&T Program of Hebei ; Youth Innovation Promotion Association CAS ; Beijing Nova Program
内容类型	期刊论文
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.