Energy Saving Control of Bionic Robotic Fish based on Model-free Adaptive Control

被引：5

作者：

Zhang, Biying ^{[1
]}

Jin, Shangtai ^{[1
]}

Hou, Zhongsheng ^{[2
]}

机构：

[1] Beijing Jiaotong Univ, Sch Elect & Informat Engn, Beijing 100044, Peoples R China

[2] Qingdao Univ, Sch Automat, Qingdao 266071, Peoples R China

来源：

IFAC PAPERSONLINE | 2020年 / 53卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Model-free adaptive control; dynamic linearization data model; bionic robotic fish; energy saving control; SYSTEMS; DESIGN;

D O I：

10.1016/j.ifacol.2020.12.2247

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, an energy-saving model-free adaptive control (MFAC) is proposed for the control of the bionic robotic fish. First, the original MFAC controllers for the speed based on the full form dynamic linearization data model are presented as an example of the controlled variable of the controlled object. Then by modifying the criterion function for control input optimization, an energy-saving MFAC controller is designed to reduce the energy consumption. The proposed method is a data-driven control method, which means that the control system designing process merely needs input and output (I/O) measurement data of the controlled plant, and does not need any model information. Simulation results demonstrate the effectiveness of the improved MFAC in speed and attitude control of the bionic robotic fish. Copyright (C) 2020 The Authors.

引用

页码：3934 / 3939

页数：6

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