Controlling the depth of a gliding robotic dolphin using dual motion control modes  

作　　者：Jian WANG Zhengxing WU Min TAN Junzhi YU 

机构地区：[1]State Key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China [2]University of Chinese Academy of Sciences,Beijing 100049,China [3]State Key Laboratory for Turbulence and Complex System,Department of Mechanics and Engineering Science,BIC-ESAT,College of Engineering,Peking University,Beijing 100871,China

出　　处：《Science China(Information Sciences)》2020年第9期207-220,共14页中国科学（信息科学）（英文版）

基　　金：National Natural Science Foundation of China(Grant Nos.61421004,61725305,61633020,61633017,61603388);Key Project of Frontier Science Research of Chinese Academy of Sciences(Grant No.QYZDJ-SSW-JSC004)。

摘　　要：This paper investigates the performance of the dual mode,namely flipper mode and central pattern generator(CPG)mode,for controlling the depth of a gliding robotic dolphin.Subsequent to considering the errors in dynamic models,we propose a depth control system that combines the line-of-sight(LOS)method with an adaptive control approach(ACA)to deal with uncertainties in the model parameters.First,we establish a full-state dynamic model to conduct simulations and optimize the parameters used in later aquatic experiments.Then,we use the LOS method to transform the control target from the depth to the pitch angle and employ the ACA to calculate the control signal.In particular,we optimize the ACA’s control parameters using simulations based on our dynamic model.Finally,our simulated and experimental results demonstrate not only that we can successfully control the robotic dolphin’s depth,but also that its performance was better than that of the CPG-based control,thus indicating that we can achieve three-dimensional motion by combining flipper-based and CPG-based control.The results of this study suggest valuable ideas for practical applications of gliding robotic dolphins.

关 键 词：gliding robotic dolphin depth control dual motion adaptive control approach 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]