Model Predictive Tracking Control Design for a Robotic Fish with Controllable Barycentre

Zheng, Xingwen1; Chen, Hua2; Jiao, Ouyang2; Xiong, Minglei1; Zhang, Wei2; Xie, Guangming1

10.1109/IECON.2019.8927738

2019-10

IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society

1553-572X

978-1-7281-4879-3

45TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2019)

1

5237-5242

14-17 Oct. 2019

Lisbon, Portugal

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

In this paper, we present the dynamic modeling and model predictive tracking control for a fin-actuated robot with barycentre regulating mechanism in multiple motions. Specifically, a dynamic model for the robot is established firstly. Based on the dynamic model, a model predictive tracking control algorithm is proposed. And simulations of of tracking rectangle trajectory, sine-like trajectory, ascending trajectory, and spiral trajectory are conducted to validate the algorithm. The simulation results demonstrate that the proposed algorithm is able to implement trajectory tracking of the robot with small position error and orientation error. This paper contributes to trajectory tracking for an underwater robot with controllable barycentre in multiple motions, which has been rarely explored.

Model predictive control tracking control robotic fish dynamic modeling

其他

英语

EI ; CPCI-S

National Natural Science Foundation of China (NSFC)[91648120][61633002][51575005] ; Beijing Natural Science Foundation[4192026]

Engineering

Engineering, Industrial

WOS:000522050605038

20201908610775

Robots ; Trajectories ; Fish ; Dynamic models ; Navigation

Robotics:731.5 ; Mathematics:921

Web of Science

1.Peking University
2.Southern University of Science and Technology

Zheng, Xingwen,Chen, Hua,Jiao, Ouyang,et al. Model Predictive Tracking Control Design for a Robotic Fish with Controllable Barycentre[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2019:5237-5242.