Fault-Tolerant Speed Control of a Biomimetic Multijoint Robotic Fish

被引：0

作者：

Yang, Yueqi ^{[1
,2
]}

Wu, Zhengxing ^{[1
]}

Yu, Junzhi ^{[1
]}

机构：

[1] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China

[2] Univ Chinese Acad Sci, Beijing, Peoples R China

来源：

2018 IEEE 8TH INTERNATIONAL CONFERENCE ON UNDERWATER SYSTEM TECHNOLOGY: THEORY AND APPLICATIONS (USYS) | 2018年

基金：

中国国家自然科学基金;

关键词：

Fault-tolerant speed control; underwater robots; robotic fish; multi-layer perceptron;

D O I：

暂无

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

Fault tolerance is critical to the real applications of underwater robots in complex underwater environments. In this paper, the fault-tolerant speed control is proposed to control the robotic fish with a stuck tail joint to reach the specified speed. Specifically, based on the yaw fault-tolerant control, we firstly analyze the coupling problem between the control parameters and design the feedback controller. In order to solve the problem that the feedback controller converges slowly, a multi-layer perceptron-based feedforward controller is proposed. Simulation experiments are designed to test the performance and effectiveness of the control system. Simulation results reveal the effectiveness of the control method.

引用

页数：6

共 12 条

[1]

Abbaspour R., 2010, 2010 International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT 2010), P443, DOI 10.1109/ICUMT.2010.5676599

[2]

Chen K., 2016, P 2016 IEEE INT C AD, P421

[3] A fast-starting mechanical fish that accelerates at 40 m s-2 [J].