A Bio-Inspired Robot With Undulatory Fins and Its Control Methods

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

	A Bio-Inspired Robot With Undulatory Fins and Its Control Methods
	Wang, Shuo; Wang, Yu; Wei, Qingping; Tan, Min; Yu, Junzhi
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2017-02-01
卷号	22 期号:1 页码:206-216
关键词	Bio-inspired robot course control depth control waypoint tracking
英文摘要	This paper proposes a bio-inspired robot with undulatory fins and summarizes its control methods. First, three basic motions, forward/backward swimming, diving/rising motion, and turning, are implemented and evaluated by experiments. Next, a hybrid control that combines active disturbance rejection control with a fuzzy strategy is presented to achieve closed-loop depth and course control according to the evaluation of the three basic motions. Finally, waypoint tracking with a line-of-sight guidance system based on a finite-state machine for this bio-inspired robot is presented. The results of swimming experiments are provided to illustrate the validity of the proposed methods.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
研究领域[WOS]	Automation & Control Systems ; Engineering
关键词[WOS]	FISH ; DESIGN ; PERFORMANCE ; LOCOMOTION
收录类别	SCI
语种	英语
WOS记录号	WOS:000395750100022
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/14395]
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, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Wang, Shuo,Wang, Yu,Wei, Qingping,et al. A Bio-Inspired Robot With Undulatory Fins and Its Control Methods[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2017,22(1):206-216.
APA	Wang, Shuo,Wang, Yu,Wei, Qingping,Tan, Min,&Yu, Junzhi.(2017).A Bio-Inspired Robot With Undulatory Fins and Its Control Methods.IEEE-ASME TRANSACTIONS ON MECHATRONICS,22(1),206-216.
MLA	Wang, Shuo,et al."A Bio-Inspired Robot With Undulatory Fins and Its Control Methods".IEEE-ASME TRANSACTIONS ON MECHATRONICS 22.1(2017):206-216.