伺服/IPMC混合尾翼驱动机器鱼协同避碰控制

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS

Mechatronic Systems and Control Pub Date : 2019-11-26 DOI:10.1115/dscc2019-9228

Xiongfeng Yi, Zheng Chen, A. Chakravarthy

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引用次数: 1

摘要

基于伺服电机驱动和离子聚合物-金属复合材料(IPMC)驱动鱼尾的机器鱼协同避碰控制系统。首先，在伺服电机/IPMC驱动鱼身上进行的实验表明，在特定频率、伺服电机振幅和IPMC关节恒定电压的作用下，鱼的轨迹出现了脉冲转向行为。这些实验通过观察鱼的角速度和向心加速度来验证IPMC关节的“向后松弛”。由于IPMC关节的“背部松弛”导致的脉冲转弯速度随后由传递函数建模，然后将该传递函数集成到鱼的避碰律的开发中。避碰控制律利用了机器鱼的脉冲转向能力。对避碰规律进行了实验验证。

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Cooperative Collision Avoidance Control of Robotic Fish Propelled by a Servo/IPMC Driven Hybrid Tail

This paper develops and demonstrates cooperative collision avoidance control on two robotic fish propelled by a servo motor and an ionic polymer-metal composite (IPMC)-driven fish tail. First, experiments conducted on a servo motor/IPMC-driven fish demonstrate an impulsive turning behavior in the fish’s trajectory under the application of a specific frequency, amplitude of the servo motor, and a constant voltage on the IPMC joint. These experiments validate the ‘back relaxation’ of the IPMC joint by observing the angular velocity and the centripetal acceleration of the fish. This impulsive turning speed due to the ‘back relaxation’ of IPMC joint is subsequently modeled by a transfer function and this transfer function is then integrated into the development of the collision avoidance laws for the fish. The collision avoidance control law utilizes the impulsive turning capability of the robotic fish. An experimental validation of the collision avoidance law is performed.

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来源期刊

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.