Course Control of a Manta Robot Based on Amplitude and Phase Differences
Due to external interference, such as waves, the success of underwater missions depends on the turning performance of the vehicle. Manta rays use two broad pectoral fins for propulsion, which provide better anti-interference ability and turning performance. Inspired by biological yaw modes, we use t...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-02-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/10/2/285 |
| _version_ | 1797478960869670912 |
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| author | Yiwei Hao Yong Cao Yonghui Cao Qiaogao Huang Guang Pan |
| author_facet | Yiwei Hao Yong Cao Yonghui Cao Qiaogao Huang Guang Pan |
| author_sort | Yiwei Hao |
| collection | DOAJ |
| description | Due to external interference, such as waves, the success of underwater missions depends on the turning performance of the vehicle. Manta rays use two broad pectoral fins for propulsion, which provide better anti-interference ability and turning performance. Inspired by biological yaw modes, we use the phase difference between the pectoral fins to realize fast course adjustment and the amplitude difference to realize precise adjustment. We design a bionic robot with pectoral fins and use phase oscillators to realize rhythmic motion. An expected phase difference transition equation is introduced to realize a fast and smooth transition of the output, and the parameters are adjusted online. We combine the phase difference and amplitude difference yaw modes to realize closed-loop course control. Through course interference and adjustment experiments, it is verified that the combined mode is more effective than a single mode. Finally, a rectangular trajectory swimming experiment demonstrates continuous mobility of the robot under the combined mode. |
| first_indexed | 2024-03-09T21:39:04Z |
| format | Article |
| id | doaj.art-513d819e13094359a4b2f82d3335b1c7 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T21:39:04Z |
| publishDate | 2022-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-513d819e13094359a4b2f82d3335b1c72023-11-23T20:36:29ZengMDPI AGJournal of Marine Science and Engineering2077-13122022-02-0110228510.3390/jmse10020285Course Control of a Manta Robot Based on Amplitude and Phase DifferencesYiwei Hao0Yong Cao1Yonghui Cao2Qiaogao Huang3Guang Pan4School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaDue to external interference, such as waves, the success of underwater missions depends on the turning performance of the vehicle. Manta rays use two broad pectoral fins for propulsion, which provide better anti-interference ability and turning performance. Inspired by biological yaw modes, we use the phase difference between the pectoral fins to realize fast course adjustment and the amplitude difference to realize precise adjustment. We design a bionic robot with pectoral fins and use phase oscillators to realize rhythmic motion. An expected phase difference transition equation is introduced to realize a fast and smooth transition of the output, and the parameters are adjusted online. We combine the phase difference and amplitude difference yaw modes to realize closed-loop course control. Through course interference and adjustment experiments, it is verified that the combined mode is more effective than a single mode. Finally, a rectangular trajectory swimming experiment demonstrates continuous mobility of the robot under the combined mode.https://www.mdpi.com/2077-1312/10/2/285manta robotcentral pattern generatorpectoral finfuzzy controlcourse control |
| spellingShingle | Yiwei Hao Yong Cao Yonghui Cao Qiaogao Huang Guang Pan Course Control of a Manta Robot Based on Amplitude and Phase Differences Journal of Marine Science and Engineering manta robot central pattern generator pectoral fin fuzzy control course control |
| title | Course Control of a Manta Robot Based on Amplitude and Phase Differences |
| title_full | Course Control of a Manta Robot Based on Amplitude and Phase Differences |
| title_fullStr | Course Control of a Manta Robot Based on Amplitude and Phase Differences |
| title_full_unstemmed | Course Control of a Manta Robot Based on Amplitude and Phase Differences |
| title_short | Course Control of a Manta Robot Based on Amplitude and Phase Differences |
| title_sort | course control of a manta robot based on amplitude and phase differences |
| topic | manta robot central pattern generator pectoral fin fuzzy control course control |
| url | https://www.mdpi.com/2077-1312/10/2/285 |
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