Title:
METHOD AND SYSTEM FOR CONTROLLING GLIDING DEPTH OF BIOMIMETIC ROBOTIC GLIDING DOLPHIN, AND APPARATUSES
Document Type and Number:
WIPO Patent Application WO/2021/103391
Kind Code:
A1
Abstract:
The present invention belongs to the field of underwater robot control, and particularly relates to a method and system for controlling the gliding depth of a biomimetic robotic gliding dolphin, and apparatuses, and aims to solve the problem of the low accuracy of gliding depth control of biomimetic robotic gliding dolphins. The method comprises: acquiring a preset gliding depth and a preset yaw angle; on the basis of depth information and inertial navigation information, acquiring an estimated velocity by means of a sliding mode observer, and acquiring a control quantity of pectoral fins on both sides by means of a yaw controller and in combination with the preset yaw angle; on the basis of the preset gliding depth and the depth information, constructing a Bezier curve and segmenting same, acquiring a segmented diving velocity reference trajectory, and acquiring a diving control quantity by means of a model predictive control method and in combination with the estimated velocity; acquiring a target position of a piston by means of a buoyancy principle and according to the diving control quantity, and acquiring a control quantity of the piston according to the current position of the piston; and controlling gliding on the basis of the control quantity of the piston and the control quantity of the pectoral fins on both sides. The present invention improves the accuracy of the gliding depth control of biomimetic robotic gliding dolphins.
Inventors:
YU JUNZHI (CN)
WU ZHENGXING (CN)
WANG JIAN (CN)
YAN SHUAIZHENG (CN)
TAN MIN (CN)
WU ZHENGXING (CN)
WANG JIAN (CN)
YAN SHUAIZHENG (CN)
TAN MIN (CN)
Application Number:
PCT/CN2020/085043
Publication Date:
June 03, 2021
Filing Date:
April 16, 2020
Export Citation:
Assignee:
INST AUTOMATION CAS (CN)
International Classes:
G05D1/06; B63C11/52; B63G8/14
Foreign References:
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| KR20120129002A | 2012-11-28 |
Attorney, Agent or Firm:
HENYOL INTELLECTUAL PROPERTY LAW CORPORATION (CN)
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