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	Cooperative Control for Trajectory Tracking of Robotic Fish
	Zou, Kexu ; Wang, Chen ; Xie, Guangming ; Chu, Tianguang ; Wang, Long ; Jia, Yingmin
	2009
关键词	SLIDING-MODE CONTROL
DOI	10.1109/ACC.2009.5159991
英文摘要	This paper is concerned with cooperative control for trajectory tracking of multiple biomimetic robotic fish using neural network based sliding mode control method. An experiment system is set up for multiple robotic fish cooperation, in which the information of robotic fish and the target points of the planned trajectory are sent to each robotic fish. Based on the received information, robotic fish can make decisions autonomously to track the planned trajectory in a decentralized way. Considering the difficulties in modeling the system due to the high nonlinearity of robotic fish and the complex hydro-environment, radial basis function neural networks are invoked to approximate dynamics of the biomimetic robotic fish with a gradient descent algorithm to optimize the network parameters. Furthermore, to deal with the model uncertainty, a discrete sliding mode control approach based on the neural networks along with a target planning method, is applied to control the robotic fish to achieve cooperative trajectory tracking task. Experimental results are included to show the effectiveness of the proposed approach.; Automation & Control Systems; EI; CPCI-S(ISTP); 2
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/316472]
专题	工学院
推荐引用方式 GB/T 7714	Zou, Kexu,Wang, Chen,Xie, Guangming,et al. Cooperative Control for Trajectory Tracking of Robotic Fish[C]. 见:.

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