Depth control of a bioinspired robotic dolphin based on sliding-mode fuzzy control method
Depth control of a bioinspired robotic dolphin based on sliding-mode fuzzy control method
复制标题
基于滑模模糊控制方法的仿生机器海豚深度控制
DOI：
10.1109/tie.2017.2745451
复制
发表时间：
2018
影响因子：
7.7
通讯作者：
Hao Fang
中科院分区：
文献类型：
--
作者：
Junzhi Yu;Jincun Liu;Zhengxing Wu;Hao Fang
本文提出了一种混合控制器，结合滑模控制（SMC）与模糊策略来调节仿生机器海豚的垂直位移。文中介绍了机器人的结构和深度控制的简化数学模型。为了克服系统不确定性和环境干扰，提出了一种基于视线制导律和滑模观测器的滑模控制器。利用李雅普诺夫稳定性理论分析了闭环系统的稳定性和收敛性。在物理机器人的深度控制是通过利用模糊逻辑控制器，这是表示为输入推进力/力矩和输出控制参数的映射。数值和实验结果表明，所提出的控制策略成功地引导机器人走向和沿着所需的深度。
This paper presents a hybrid controller that combines sliding-mode control (SMC) with a fuzzy strategy to regulate the vertical displacement of a bioinspired robotic dolphin. The structure of the robot and a simplified mathematical model for depth control are described. An SMC based on the line-of-sight guidance law and the sliding-mode observer is developed to overcome systematic uncertainties and environmental disturbances. The Lyapunov stability theory is utilized to analyze the stability and convergence properties of the closed-loop system. Depth control in the physical robot is realized by utilizing a fuzzy logic controller, which is represented as the mapping of the input propulsion forces/moments and output control parameters. Numerical and experimental results show that the proposed control strategy successfully steers the robot toward and along the desired depth.