Efficient cooperative structured control for a multi-joint biomimetic robotic fish | |
Yan Shuaizheng2; Wu Zhengxing2; Wang Jian2; Tan Min2; Yu Junzhi1,2 | |
刊名 | IEEE/ASME Transactions on Mechatronics |
2020-12 | |
卷号 | 26期号:5页码:2506-2516 |
英文摘要 | In this article, we propose an efficient locomotion control method for a two-dimensional tracking task of a biomimetic four-joint robotic fish. Regarding this issue as a comprehensive optimization procedure, we propose an optimization-based cooperative structured control framework, in which the combination of evolutionary strategy and deep deterministic policy gradient is employed to optimize the same objective function. An inconsistent optimization method is presented to further enhance the effect of parameter optimization on central pattern generator model. Moreover, for the sake of a higher reward and better robustness of controllers governed by deep reinforcement learning, we propose a linear weighted controller trained with periodic method. Extensive simulation and experimental results verify the significant energy saving of the proposed method in tracking tasks. Noticeably, the cooperative structured control can save 23.97% , 22.13% , and 38.72% energy compared with sliding mode control, active disturbance rejection control, and proportional-integral-differential control in experiments, respectively, holding a great promise for the long-term intelligent work of the biomimetic robotic fish in complex aquatic environments. |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/51843] |
专题 | 复杂系统认知与决策实验室 |
通讯作者 | Wu Zhengxing |
作者单位 | 1.State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, Peking University 2.Laboratory of Cognitive and Decision Intelligence for Complex System, Institute of Automation, Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Yan Shuaizheng,Wu Zhengxing,Wang Jian,et al. Efficient cooperative structured control for a multi-joint biomimetic robotic fish[J]. IEEE/ASME Transactions on Mechatronics,2020,26(5):2506-2516. |
APA | Yan Shuaizheng,Wu Zhengxing,Wang Jian,Tan Min,&Yu Junzhi.(2020).Efficient cooperative structured control for a multi-joint biomimetic robotic fish.IEEE/ASME Transactions on Mechatronics,26(5),2506-2516. |
MLA | Yan Shuaizheng,et al."Efficient cooperative structured control for a multi-joint biomimetic robotic fish".IEEE/ASME Transactions on Mechatronics 26.5(2020):2506-2516. |
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