Aiming at the 3-D trajectory tracking control problem of underwaterbionicrobots, a novel trajectory tracking control strategy based on robust model predictive control (RMPC) and central pattern generator (CPG) is de...
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Aiming at the 3-D trajectory tracking control problem of underwaterbionicrobots, a novel trajectory tracking control strategy based on robust model predictive control (RMPC) and central pattern generator (CPG) is designed for underwaterbionicrobots with external disturbances. Firstly, the overall mathematical model of the robot is established, and a discrete robust model predictive controller is designed for trajectory tracking control, and then its stability is proved. Secondly, according to the mechanical analysis of the pectoral fin and the caudal fin, the transformation functions of the pectoral fin and the caudal fin is designed, and the lower CPG motion controller and the upper RMPC trajectory tracking controller are combined to establish an RMPC-CPG controller. It not only improves the coordination and smoothness of the motion of the bionicrobot during the trajectory tracking process, but also incorporates many constraints in the motion process into the rolling optimization, so that the control input meets the actual drive constraints and avoids the problem of drive oversaturation. Finally, the simulation experiment is designed to verify the tracking performance of the bionic underwater robot under external disturbance. Simulation results demonstrate the effectiveness of the controller and its robustness to external disturbances.
In this article,we study the trajectory planning and tracking control of a bionic underwater robot under multiple dynamic *** first introduce the design of the bionic leopard cabinet underwaterrobot developed in our ...
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In this article,we study the trajectory planning and tracking control of a bionic underwater robot under multiple dynamic *** first introduce the design of the bionic leopard cabinet underwaterrobot developed in our ***,we model the trajectory planning problem of the bionic underwater robot by combining its dynamics and physical ***,we conduct global trajectory planning for bionic underwater robots based on the temporal-spatial Bezier *** addition,based on the improved proximal policy optimization,local dynamic obstacle avoidance trajectory replanning is carried *** addition,we design the fuzzy proportional-integral-derivative controller for tracking control of the planned ***,the effectiveness of the real-time trajectory planning and tracking control method is verified by comparative simulation in dynamic environment and semiphysical simulation of *** them,the real-time trajectory planning method has advantages in trajectory length,trajectory smoothness,and planning *** error of trajectory tracking control method is controlled around 0.2 m.
Aimed at the trajectory tracking control problem of bionic underwater robots, this paper designs a novel twodimensional trajectory tracking method based on robust nonlinear model predictive control (RNMPC) and a centr...
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Aimed at the trajectory tracking control problem of bionic underwater robots, this paper designs a novel twodimensional trajectory tracking method based on robust nonlinear model predictive control (RNMPC) and a central pattern generator (CPG) for use in the trajectory tracking of a bionic underwater robot with an external disturbance. First, the overall mathematical model of the robot is established, a robust nonlinear model predictive controller based on a tube for trajectory tracking is designed, and then the stability of the controller is proved by the Lyapunov stability analysis method. Second, a transformation function is designed to combine the CPG motion controller at the bottom layer and the RNMPC trajectory tracking controller at the upper layer in order to establish an RNMPC-CPG controller, which improves the coordination and smoothness of the motion of the bionicrobot in the trajectory tracking process. Finally, a simulation experiment is designed to verify the tracking performance of the bionic underwater robot with external disturbances. The simulation results demonstrate the effectiveness of the controller.
A bionic underwater robot swims to generate its propulsion in water, which in turn directly determines its movement stability. Exploring the relationship between the swimming force and the posture is important. This s...
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A bionic underwater robot swims to generate its propulsion in water, which in turn directly determines its movement stability. Exploring the relationship between the swimming force and the posture is important. This study aims to analyze and model the swimming posture dynamics of a beaver-like robot. The posture dynamics is decomposed into three parts: leg dynamics, body hydrodynamics, and body posture dynamics. First, the leg dynamic model of the beaver-like robot is established using the rigid-fluid integration method. Then, the overall fluid dynamics of the robot is modeled via numerical calculation methods to obtain the forces of the water on the robot body during swimming. Lastly, the swimming posture dynamic model of the robot is constructed to describe the relationship between the leg movement and body posture. The swimming process of the beaver-like robot with bionic alternating and synchronous trajectory is simulated with ADAMS 2019. The proposed modeling method and the swimming posture dynamic model are verified by comparing the simulation and theoretical calculation results of robot posture, which could be used for the swimming posture control of a bionic under-water robot.
bionic underwater robots have been a hot research area in recent years. The motion control methods for a kind of bionic underwater robot with two undulating fins are discussed in this paper. The equations of motion fo...
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bionic underwater robots have been a hot research area in recent years. The motion control methods for a kind of bionic underwater robot with two undulating fins are discussed in this paper. The equations of motion for the bionic underwater robot are described. To apply the reinforcement learning to the actual robot control, a Supervised Neural Q_learning (SNQL) algorithm is put forward. This algorithm is based on conventional Q_learning algorithm, but has three remarkable distinctions: (1) using a feedforward neural network to approximate the Q_function table;(2) adopting a learning sample database to speed up learning and improve the stability of learning system;(3) introducing a supervised control in the earlier stage of learning for safety and to speed up learning again. Experiments of swimming straightforward are carried out with SNQL algorithm. Results indicate that the SNQL algorithm is more effective than pure neural Q_learning or supervised control. It is a feasible approach to figure out the motion control for bionic underwater robots.
bionic undulating fins, inspired by undulations of the median and/or paired fin (MPF) fish, have a bright prospective for un-derwater missions with higher maneuverability, lower noisy, and higher efficiency. In the pr...
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bionic undulating fins, inspired by undulations of the median and/or paired fin (MPF) fish, have a bright prospective for un-derwater missions with higher maneuverability, lower noisy, and higher efficiency. In the present study, a coupled computa-tional fluid dynamics (CFD) model was proposed and implemented to facilitate numerical simulations on hydrodynamic ef-fects of the bionic undulating robots. Hydrodynamic behaviors of underwaterrobots propelled by two bionic undulating fins were computationally and experimentally studied within the three typical desired movement patterns, i.e., marching, yawing and yawing-while-marching. Moreover, several specific phenomena in the bionic undulation mode were unveiled and dis-cussed by comparison between the CFD and experimental results under the same kinematics parameter sets. The contributed work on the dynamic behavior of the undulating robots is of importance for study on the propulsion mechanism and control algorithms.
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