TY - JOUR
T1 - Data-Assisted Dynamic Modeling of Bionic Robotic Fish and Its Precise Speed Control
AU - Han, Jiarong
AU - Huang, Shun
AU - Yao, Yingyu
AU - Ma, Zhongjing
AU - Liu, Yu
AU - Zou, Suli
AU - Yin, Bo
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - 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.
AB - 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.
KW - Biologically-inspired robots
KW - dynamics
KW - hydrodynamic modeling
KW - motion control
KW - robotic fish
UR - http://www.scopus.com/inward/record.url?scp=85205320430&partnerID=8YFLogxK
U2 - 10.1109/LRA.2024.3468176
DO - 10.1109/LRA.2024.3468176
M3 - Article
AN - SCOPUS:85205320430
SN - 2377-3766
VL - 9
SP - 10447
EP - 10454
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 11
ER -