Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish | |
Zhang, Shouxu1; Jiang, Bo2; Chen, Xiaoxuan2; Liang, Jian3; Cui, Peng1; Guo, Xinxin1 | |
作者部门 | 信息光子学研究室 |
2018 | |
发表期刊 | COMPLEXITY |
ISSN | 1076-2787 |
产权排序 | 3 |
摘要 | This paper proposes a new robotic fish which avoids the complex mechanical structure and reduces the model complexity comparing to the existing bioinspired robotic fish, giving rise to a semibiomimetic robotic fish. The generalized Lagrange equation is adopted to establish the dynamic model of the robotic fish. The controllability of the system is analyzed, upon which a trajectory tracking control algorithm is designed by using the feedback linearization technique. The simulation results show that the dynamic model adopted in this paper can achieve better control performance. |
DOI | 10.1155/2018/4657235 |
收录类别 | SCIE ; EI |
语种 | 英语 |
WOS研究方向 | Mathematics ; Science & Technology - Other Topics |
WOS记录号 | WOS:000438804800001 |
出版者 | WILEY-HINDAWI |
EI入藏号 | 20191106644119 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.opt.ac.cn/handle/181661/30524 |
专题 | 信息光子学研究室 |
通讯作者 | Zhang, Shouxu |
作者单位 | 1.Northwestern Polytech Univ, Sch Marine Sci & Technol, Xian 710072, Shaanxi, Peoples R China 2.Northwest Univ, Sch Informat & Technol, Xian 710027, Shaanxi, Peoples R China 3.Chinese Acad Sci, State Key Lab Transient Opt & Photon, Xian 710119, Shaanxi, Peoples R China |
推荐引用方式 GB/T 7714 | Zhang, Shouxu,Jiang, Bo,Chen, Xiaoxuan,et al. Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish[J]. COMPLEXITY,2018. |
APA | Zhang, Shouxu,Jiang, Bo,Chen, Xiaoxuan,Liang, Jian,Cui, Peng,&Guo, Xinxin.(2018).Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish.COMPLEXITY. |
MLA | Zhang, Shouxu,et al."Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish".COMPLEXITY (2018). |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Modeling and Dynamic(2396KB) | 期刊论文 | 出版稿 | 限制开放 | CC BY-NC-SA | 请求全文 |
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