Line-of-sight strategy-based path-following system for a multi-joint robotic fish | |
Dai, Shijie(戴时捷)3,4; Chao Zhou1; Zhengxing Wu3; Min Tan3; Junzhi Yu2,3 | |
2020 | |
会议日期 | 28-29 September 2020 |
会议地点 | Asahikawa, Japan |
英文摘要 | This paper proposes a real-time path-following control system for a multi-joint robotic fish. The mechanical structure and dynamic model of the robotic fish for pathfollowing are first described. Then, the framework of the path-following control algorithm is established based on the built dynamic model, including a modified line-of-sight (LOS) guidance law, an active disturbance rejection control (ADRC)based heading controller and a proportional-integral-derivative (PID)-based speed controller. Specially, the modified LOS strategy is designed to select the tracking points and also provide the desired heading angle. Afterwards, to overcome systematic uncertainties and environmental disturbances, the ADRC method is adopted to design the heading controller. Meanwhile, the PID controller is also developed to maintain an appropriate swimming speed. Finally, simulations in both linear-and circular-path following are presented to validate the effectiveness of the proposed method. |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/52019] |
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 | 1.中国人民解放军海军研究院 2.北京大学北京大学湍流与复杂系统国家重点实验室 3.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 4.中国科学院大学人工智能学院 |
推荐引用方式 GB/T 7714 | Dai, Shijie,Chao Zhou,Zhengxing Wu,et al. Line-of-sight strategy-based path-following system for a multi-joint robotic fish[C]. 见:. Asahikawa, Japan. 28-29 September 2020. |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论