Motion Control of a Hovering Biomimetic Four-Fin Underwater Robot
作者： Taavi Salumae , Ahmed Chemori , Maarja Kruusmaa
关键词: Robot 、 Control engineering 、 Human-in-the-loop 、 Computer science 、 Fuzzy logic 、 Modular design 、 Field (computer science) 、 Robot control 、 Automatic control 、 Motion control 、 Mechanical engineering 、 Electrical and Electronic Engineering 、 Ocean Engineering
摘要: U-CAT is a highly maneuverable biomimetic four-fin underwater robot for operating in confined spaces. Because of its novel mechanical design and specialized purpose, the traditional autonomous control methods are not directly applicable on U-CAT. This paper proposes modular architecture that can be adopted different application scenarios. Within this framework, we implement test several 2-degree-of-freedom (DOF) controllers discuss results. Furthermore, describe an actuation coupling method by prioritizing selection DOF with fuzzy membership functions demonstrate approach 3-DOF control. The results show proposed prioritization helps us to improve tracking both case human loop automatic Finally, long-duration field experiments realistic environmental conditions.
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