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| 论文编号: |
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| 第一作者所在部门: |
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| 中文论文题目: |
A Bio-Inspired Robot With Undulatory Fins and Its Control Methods
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| 英文论文题目: |
A Bio-Inspired Robot With Undulatory Fins and Its Control Methods
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| 论文题目英文: |
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| 作者: |
Wang, Shuo
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| 论文出处: |
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| 刊物名称: |
IEEE-ASME TRANSACTIONS ON MECHATRONICS
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| 年: |
2017
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| 卷: |
22 |
| 期: |
1 |
| 页: |
206-216 |
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| 收录类别: |
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| 影响因子: |
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| 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. |
| 英文摘要: |
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