Gliding Motion Regulation of a Robotic Dolphin Based on a Controllable Fluke

doi:10.1109/TIE.2019.2913810

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

	Gliding Motion Regulation of a Robotic Dolphin Based on a Controllable Fluke
	Wu, Zhengxing 1; Yu, Junzhi 1,3; Yuan, Jun 1; Tan, Min 1; Qi, Suwen 2
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2020-04-01
卷号	67 期号:4 页码:2945-2953
关键词	Gliding robotic dolphin motion control pitch control underwater robotics
ISSN号	0278-0046
DOI	10.1109/TIE.2019.2913810
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要	This paper investigates a controllable fluke's regulation effect on the gliding motion of a self-propelled robotic dolphin in both theory and practice. In theory, based on a dynamic model, the gliding equilibria is first analyzed. Through deriving the explicit expressions of the pitch angle, gliding angle, and velocities, we explore how the deflection angle of the controllable fluke changes the gliding performance. Then, aided by these theoretical analyses, a pitch control strategy relying on the fluke is constructed. In simulations, the robotic dolphin is able to track a given pitch angle during gliding, directly through adopting this control strategy to regulate the fluke's deflection angle. Furthermore, extensive gliding experiments in different fluke's deflection angles are carried out. From the statistical data, we further explore the remarkable effects of the controllable fluke on the gliding performance in practice. Besides, the other pitch control experiment is also executed to validate the effectiveness of the proposed control approach. The results of this paper shed light on improving the gliding performance of the robotic dolphin in future mechanical design and gliding control.
资助项目	National Natural Science Foundation of China[61603388] ; National Natural Science Foundation of China[61836015] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61633017] ; Preresearch Fund of Equipments of China[61403120108] ; Beijing Natural Science Foundation[4161002] ; Key Research Program of Frontier Sciences, CAS[QYZDJ-SSW-JSC004]
WOS关键词	UNDERWATER ; SEAGLIDER ; MANEUVERS ; WATER
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000507307000043
资助机构	National Natural Science Foundation of China ; Preresearch Fund of Equipments of China ; Beijing Natural Science Foundation ; Key Research Program of Frontier Sciences, CAS
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/29531]
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.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Shenzhen Univ, Sch Med, Dept Biomed Engn, Shenzhen 518060, Peoples R China 3.Peking Univ, Coll Engn, State Key Lab Turbulence & Complex Syst, Dept Mech & Engn Sci,BIC ESAT, Beijing 100871, Peoples R China
推荐引用方式 GB/T 7714	Wu, Zhengxing,Yu, Junzhi,Yuan, Jun,et al. Gliding Motion Regulation of a Robotic Dolphin Based on a Controllable Fluke[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2020,67(4):2945-2953.
APA	Wu, Zhengxing,Yu, Junzhi,Yuan, Jun,Tan, Min,&Qi, Suwen.(2020).Gliding Motion Regulation of a Robotic Dolphin Based on a Controllable Fluke.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,67(4),2945-2953.
MLA	Wu, Zhengxing,et al."Gliding Motion Regulation of a Robotic Dolphin Based on a Controllable Fluke".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 67.4(2020):2945-2953.