Novel method for modeling and control investigation of efficient-swimming robotic fish

Novel method for modeling and control investigation of efficient-swimming robotic fish

ID:39593224

大小:1014.36 KB

页数:13页

时间:2019-07-06

Novel method for modeling and control investigation of efficient-swimming robotic fish_第1页
Novel method for modeling and control investigation of efficient-swimming robotic fish_第2页
Novel method for modeling and control investigation of efficient-swimming robotic fish_第3页
Novel method for modeling and control investigation of efficient-swimming robotic fish_第4页
Novel method for modeling and control investigation of efficient-swimming robotic fish_第5页
资源描述:

《Novel method for modeling and control investigation of efficient-swimming robotic fish》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库

1、3176IEEETRANSACTIONSONINDUSTRIALELECTRONICS,VOL.59,NO.8,AUGUST2012NovelMethodfortheModelingandControlInvestigationofEfficientSwimmingforRoboticFishLiWen,TianmiaoWang,GuanhaoWu,JianhongLiang,andChaoleiWangAbstractInthispaper,analyticaltechniquesandfuzz

2、ylogictimalswimmingpatternforroboticfishneedstobeseriouslymethodareappliedtothedynamicmodelingandefficientswim-considered.Man-maderoboticswimmershaveinherentchar-mingcontrolofaroboticfish.Thebioinspiredroboticfish,whichacteristicssuchasskinfrictionandbod

3、yflexibilityandformfollowsanexactreplicaofalivemackerel(Scomberscombrus),whichobviouslyvaryfromthoseofliveswimmingfish[3].ismodeledbytreatingtheundulatingbodyandflappingtailindependentlyusinganalyticalmethods.ComparingtheresultsofTherefore,thesimpleappl

4、icationofthebiologicalobservedsimulationsandexperimentsshowsthefeasibilityofthedynamicdatatothecontrolofroboticfishwouldleadtoanimperfectmodel.Usingthismodel,wefoundthattheharmoniccontrolofresultofthethrustperformance[4],[6].ThecurrentresearchtheStrou

5、halnumberandcaudalfinangleofattackisaprincipalpresentedhereaimstoinvestigatehowbiomimeticroboticfishmechanismthroughwhichtheroboticfishcanobtainhighthrustcanswimefficientlyinwater.Theroboticfishwhichwechoseefficiencywhileswimming.Thefuzzycontrolmethod,whic

6、hisbasedontheknowledgeoftheroboticfishsdynamicbehavior,hastoinvestigateinthispaperbelongstothegroupexhibitingthesuccessfullyutilizedthisprincipalmechanism.Bycomparingthebodyand/orcaudalfinmovementpattern[7].Existingpriorthrustperformanceoftheroboticfish

7、withdifferentcontrolmeth-researchrelevanttothematerialspresentedhere,andcurrentodsviasimulation,weestablishedthatthefuzzycontrollerwascontributions,canbebroadlyclassifiedintotwocategories:abletoachievefasteraccelerationandsmallersteady-stateerrordynam

8、icmodelingofandcontrolmethodsforroboticfish.thanwhatcouldbeachievedfromanopen-loopandconventionalproportionalintegral-derivativecontroller.ThethrustefficiencyduringsteadystatewassuperiortothatwithconventionalcontrolA.DynamicModelingmethods.Wealsofoundt

当前文档最多预览五页,下载文档查看全文

此文档下载收益归作者所有

当前文档最多预览五页,下载文档查看全文
温馨提示:
1. 部分包含数学公式或PPT动画的文件,查看预览时可能会显示错乱或异常,文件下载后无此问题,请放心下载。
2. 本文档由用户上传,版权归属用户,天天文库负责整理代发布。如果您对本文档版权有争议请及时联系客服。
3. 下载前请仔细阅读文档内容,确认文档内容符合您的需求后进行下载,若出现内容与标题不符可向本站投诉处理。
4. 下载文档时可能由于网络波动等原因无法下载或下载错误,付费完成后未能成功下载的用户请联系客服处理。