Bioinspired Central Pattern Generator and T-S Fuzzy Neural Network-Based Control of a Robotic Manta for Depth and Heading Tracking
Aiming at the difficult problem of motion control of robotic manta with pectoral fin flexible deformation, this paper proposes a control scheme that combines the bioinspired Central Pattern Generator (CPG) and T-S Fuzzy neural network (NN)-based control. An improved CPG drive network is presented fo...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-05-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/10/6/758 |
| _version_ | 1797485781229502464 |
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| author | Yonghui Cao Yu Xie Yue He Guang Pan Qiaogao Huang Yong Cao |
| author_facet | Yonghui Cao Yu Xie Yue He Guang Pan Qiaogao Huang Yong Cao |
| author_sort | Yonghui Cao |
| collection | DOAJ |
| description | Aiming at the difficult problem of motion control of robotic manta with pectoral fin flexible deformation, this paper proposes a control scheme that combines the bioinspired Central Pattern Generator (CPG) and T-S Fuzzy neural network (NN)-based control. An improved CPG drive network is presented for the multi-stage fin structure of the robotic manta. Considering the unknown dynamics and the external environmental disturbances, a sensor-based classic T-S Fuzzy NN controller is designed for heading and depth control. Finally, a pool test demonstrates the effectiveness and robustness of the proposed controller: the robotic manta can track the depth and heading with an error of ±6 cm and ±6°, satisfying accuracy requirements. |
| first_indexed | 2024-03-09T23:23:43Z |
| format | Article |
| id | doaj.art-bf3f6fcf6592497788710bd1cbf40cb4 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T23:23:43Z |
| publishDate | 2022-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-bf3f6fcf6592497788710bd1cbf40cb42023-11-23T17:22:26ZengMDPI AGJournal of Marine Science and Engineering2077-13122022-05-0110675810.3390/jmse10060758Bioinspired Central Pattern Generator and T-S Fuzzy Neural Network-Based Control of a Robotic Manta for Depth and Heading TrackingYonghui Cao0Yu Xie1Yue He2Guang Pan3Qiaogao Huang4Yong Cao5School 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, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaAiming at the difficult problem of motion control of robotic manta with pectoral fin flexible deformation, this paper proposes a control scheme that combines the bioinspired Central Pattern Generator (CPG) and T-S Fuzzy neural network (NN)-based control. An improved CPG drive network is presented for the multi-stage fin structure of the robotic manta. Considering the unknown dynamics and the external environmental disturbances, a sensor-based classic T-S Fuzzy NN controller is designed for heading and depth control. Finally, a pool test demonstrates the effectiveness and robustness of the proposed controller: the robotic manta can track the depth and heading with an error of ±6 cm and ±6°, satisfying accuracy requirements.https://www.mdpi.com/2077-1312/10/6/758robotic mantacentral pattern generatorT-S Fuzzy controldepth and heading tracking |
| spellingShingle | Yonghui Cao Yu Xie Yue He Guang Pan Qiaogao Huang Yong Cao Bioinspired Central Pattern Generator and T-S Fuzzy Neural Network-Based Control of a Robotic Manta for Depth and Heading Tracking Journal of Marine Science and Engineering robotic manta central pattern generator T-S Fuzzy control depth and heading tracking |
| title | Bioinspired Central Pattern Generator and T-S Fuzzy Neural Network-Based Control of a Robotic Manta for Depth and Heading Tracking |
| title_full | Bioinspired Central Pattern Generator and T-S Fuzzy Neural Network-Based Control of a Robotic Manta for Depth and Heading Tracking |
| title_fullStr | Bioinspired Central Pattern Generator and T-S Fuzzy Neural Network-Based Control of a Robotic Manta for Depth and Heading Tracking |
| title_full_unstemmed | Bioinspired Central Pattern Generator and T-S Fuzzy Neural Network-Based Control of a Robotic Manta for Depth and Heading Tracking |
| title_short | Bioinspired Central Pattern Generator and T-S Fuzzy Neural Network-Based Control of a Robotic Manta for Depth and Heading Tracking |
| title_sort | bioinspired central pattern generator and t s fuzzy neural network based control of a robotic manta for depth and heading tracking |
| topic | robotic manta central pattern generator T-S Fuzzy control depth and heading tracking |
| url | https://www.mdpi.com/2077-1312/10/6/758 |
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