Data-Assisted Dynamic Modeling of Bionic Robotic Fish and Its Precise Speed Control

doi:10.1109/LRA.2024.3468176

IMECH-IR > 流固耦合系统力学重点实验室

	Data-Assisted Dynamic Modeling of Bionic Robotic Fish and Its Precise Speed Control
	Han, Jiarong 1; Huang S(黄顺)2,3; Yao, Yingyu 1; Ma, Zhongjing 1; Liu, Yu4 ; Zou, Suli 1; Yin B(银波)2,3
通讯作者	Ma, Zhongjing([email protected])
发表期刊	IEEE ROBOTICS AND AUTOMATION LETTERS
	2024-11-01
卷号	9 期号:11 页码:10447-10454
ISSN	2377-3766
摘要	Dynamic modeling is essential for comprehending physical mechanisms and devising control strategies in bionic robot research. This letter introduces a novel dynamic modeling method that combines Lagrangian dynamics and data-assisted techniques for robotic fish with bionic morphology, multi-joint structures, and a flexible caudal fin. Firstly, a nonlinear continuous hydrodynamic model has been developed using extensive data derived from computational fluid dynamics (CFD), thereby capturing the high-fidelity locomotion of robotic fish. Secondly, based on mathematical derivation, a stability analysis method and controller design approach for biomimetic systems with periodic behaviors have been proposed. Furthermore, to demonstrate the model's efficacy, we designed a model reference adaptive controller for speed control. Both simulation and experimental results validate the model's accuracy, effectiveness, and potential for improving control consistency in tracking time-varying speeds of robotic fish.
关键词	Biologically-inspired robots dynamics hydrodynamic modeling motion control robotic fish Biologically-inspired robots dynamics hydrodynamic modeling motion control robotic fish
DOI	10.1109/LRA.2024.3468176
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:001336242500007
关键词[WOS]	PERFORMANCE ; TRACKING
WOS研究方向	Robotics
WOS类目	Robotics
资助项目	Beijing Natural Science Foundation of China[IS23063] ; Strategic Priority Research Program of the Chinese Academy of Sciences (class A)[XDA22040203] ; National Natural Science Foundation of China[12272383]
项目资助者	Beijing Natural Science Foundation of China ; Strategic Priority Research Program of the Chinese Academy of Sciences (class A) ; National Natural Science Foundation of China
论文分区	二类
力学所作者排名	2
RpAuthor	Ma, Zhongjing
引用统计
文献类型	期刊论文
条目标识符	http://dspace.imech.ac.cn/handle/311007/97068
专题	流固耦合系统力学重点实验室
作者单位	1.Beijing Inst Technol, Sch Automation, Beijing 100081, Peoples R China; 2.Chinese Acad Sci, Key Lab Mech Fluid Solid Coupling Syst, Inst Mech, Beijing 100190, Peoples R China; 3.Univ Chinese Acad Sci, Sch Engn Sci, Beijing 100049, Peoples R China; 4.Chinese Acad Sci, Inst Acoust, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Han, Jiarong,Huang S,Yao, Yingyu,et al. Data-Assisted Dynamic Modeling of Bionic Robotic Fish and Its Precise Speed Control[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2024,9,11,:10447-10454.Rp_Au:Ma, Zhongjing
APA	Han, Jiarong.,黄顺.,Yao, Yingyu.,Ma, Zhongjing.,Liu, Yu.,...&银波.(2024).Data-Assisted Dynamic Modeling of Bionic Robotic Fish and Its Precise Speed Control.IEEE ROBOTICS AND AUTOMATION LETTERS,9(11),10447-10454.
MLA	Han, Jiarong,et al."Data-Assisted Dynamic Modeling of Bionic Robotic Fish and Its Precise Speed Control".IEEE ROBOTICS AND AUTOMATION LETTERS 9.11(2024):10447-10454.